On the contrary, Rome was able to conquer most of Europe thanks to its hearts and minds approach. You can rule yourself, keep doing your thing, get some nice roads and towns, move on with life. All you have to do is swear allegiance to Rome and pay some taxes. No more than that. You didn't even have to change your religion if you didn't want to.

If you said no, that's when the pain started of course.

You can conquer people by force, but you can't occupy by force. Occupation only works with hearts and minds.