Hets have existed from the beginning of time. During the big bang several hundred Hets were brought into the Earth, while the rest were placed into Lucraneon. Hets have studied the dinosaus, and eventually entered the minds of Dinos (mainly Troodons) and took control. They gradually lost control of this ability, due to the fact that most animals were getting smaller and smaller each time. Eventually the Hets were forced into trying to find the other Hets during the Ice Age. Technology was developped quickly, and by the time Australopithecus Africanus were appearing, the Hets were ready to search for their planet. As they set off, a couple of Hets remained to clear any evidence they had existed. These several Hets stayed until Homo Sapiens were born, which ultimately they died (no one knows how these Hets survived so long), but not before being glimpsed by a movie director who was inspired to direct the movie "The Blob". Recent Hets tried to find the remaining Hets, but could never find them and presumed them deceased. The Hets remained in Lucraneon now, with some files about the Earth's dinosaurs and pre-developped mammals stored inside their brain until they found about about human "pencils, paper and pens".
The Venuses on the other hand, were not formed until later on. Venuses were born in a distant planet (Het researchers look for evidence from time to time) and have lived there until they could not survive due to the cold weather. They quickly went into their spaceships and have looked for territory to lvie on. After passing through many planets (Earth included), they redevelopped their ships and moved on. Earth was out of the question since, while they were tasty looking, they had weapons that the Venuses couldn't match at the time (abilities were still being discovered). Finally, they found a planet in the Centriole system that worked. They negotiated with the Hets, and now share the planet. These two species have worked well together.
Recent Het researchers have found new evidence that Venuses once might've lived in Gelade, however this eveidence is not confirmed and the ice is too thick on Gelade to have a closer look.