The mission of the "outside soldiers" is much more dangerous than those given to the other soldiers. To ensure its success, these women rule over separate powerful domains of nature, giving them extraordinary skills and abilities. They were never destined to meet, never destined to join together "unless the greatest of evils draws them close ..." (so melodramatic!).
During the time of Silver Millenium, the Outers "fought as soldiers from deep space against invaders." Pluto reveals their purpose in Act 29 of the manga: how they protect "the Silver Millennium from a distance." And really, the orbits and locations of the "outer planets" dictate this purpose. 
The planets Saturn, Uranus, Neptune, and Pluto are the furthest planets in the Milky Way solar system and are usually seen at different positions when rotating. Each planet orbits slower than the others, almost as if "surveying" the area before moving on.
Unfortunately, the Outers were never destined to meet. Each protected a sacred Talisman which, when brought together, would awake the soldier of destruction and ruin, Sailorsaturn. Michiru retells the first meeting of the Outers during the time of the Silver Millenium in Act 30 of the manga. She says the talisman began to "resonate like [they had] never seen." They gathered them and summoned Sailorsaturn, watching as she slowly brought down her silence glaive [while] the Silver Millennium went into oblivion." She's not saying that the Dark Kingdom didn't destroy the Moon Kingdom, just that Saturn sort of "finalized" its destruction - think like the Grim Reaper or the god of death.
Uranus, Neptune, and Saturn are reborn on the earth while Setsuna's soul returns to the Time-Space Door. She certainly recalls her past life, but it's unclear whether or not H&M always remember or learn at a certain time. With this new rebirth on earth, the Outers have left their territories and allowed the Death Busters to invade. They plan to now resume their mission and destroy the invading enemy. However, the full revival of Uranus, Neptune, and Pluto and the gathering of the talisman causes the birth of Mistress 9 instead of Saturn. Uranus, Neptune, and Pluto must defeat Mistress 9, the Death Busters, and prevent the awakening of Saturn!
But after Saturn awakes and sacrifices her life to destroy the enemy and not the planet, Pluto, Neptune, and Uranus have tears in their eyes and feel remorse. Their mission is complete but they choose to take on another endeavor. A young baby Hotaru (Saturn) is born from the destruction and the Outers decide to raise the infant as her parents.
In Act 39 we see how much the new family has progressed. Hotaru has grown so much after only six months and is reading as well as playing the violin. Haruka, Michiru, and Setsuna are pained with the troubles of raising a growing child (breaking dishes, unlimited amounts of energy, outgrowing clothes, etc.) yet enjoy these peaceful moments because they choose their new 
path. They cannot transform for some reason but feel this is because their mission is over. But the "good" times end with Hotaru revives as Saturn. She remembers all that happened and proclaims that they no longer have to fight in the distance; they can now fight alongside their other companions. Thus, the new soldiers of the Outer Solar System are born!
It does look a lot like the Outers put too much pressure and blame on themselves. They were unaware of the power of their talisman and couldn't have prevented the destruction of the Silver Millenium; it was not in their jurisdiction. Yet, they feel like they SHOULD'VE done something when they COULDN'T do anything. Even on earth, the Outers apologize for their negligence in allowing the Death Busters to enter. But, all this blame is unnecessary. I think that because they've been given much more effective powers, they have a sort of "Big brother/sister" mentality - they gotta do all they can to protect those on the "inside." You gotta admire their humbleness and devotion, though. The Outers do admit their mistakes and act to fix them. How noble!
At first, the Outers were destined to watch and protect from the outside. They denied themselves direct contact with the other soldiers and focused on their purpose. But now they are able to help in the way they want too. They are reborn as active members within the Sailor Team, protecting the Princess, the planets, and the universe together with the other soldiers - that is the new mission for our four soldiers.
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[[ the "in" crowd? ]] ~~ [[ the lonely guardian ]]