When a planetary system is born, most material to build bodies is in fine dust(gas state/plasma) because it has termo-dynamic high , thus is easy that gravity force create regular spherical forms width very weight materials as iron (earth center) after that system planetary is yougest (lower termo-dynamic),it has planets and smal bodies with regular forms but with trajectory collision, after has collisions occurred , it has regular and irregular bodies, when it reach state like as solar system, it has regular forms(spherical) semi-regular(with flat surface but irregular form as phobos) and irregular (asteroids),
Other razons:
because the main axis force from Centripetal force of solar system, has a direction to west-east axis (earth)
Some bodies(planets and satellites) has liquid state matter and this dragg solid matter in her surface
Tectonic plate changes create deformation in surface bodies( Monts etc.)
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