Okay, with some clarification, the newish question is: "Well, how does the force (gravity) that holds us in orbit- which has to be super strong, right?- not also crush the planets? Also, why are all the planets round usually?"
Boy, that is not a simple question. So, let's start simple, and talk about crushing. When something gets crushed, what we really mean is that it is getting compressed, right? I can crush up some paper into a ball, or step on an egg and crush it into the ground, or watch colliding vehicles crush their front ends when they collide. In all cases, we are compressing something(s). Usually, most everyday examples of crushing have some element of opposing force. To "crush", we need something to crush against.
Here's what I mean. Take the egg example. If I step on the egg, I'm forcing it into the ground beneath it. Since it can't move into or through the ground, the force breaks the egg, changing its shape and structure. It is now crushed. Similarly, if I crush paper into a ball with my hands, the force from one hand forces the paper into the other hand, Since the paper can't break through the hands confining it, its shape changes, and it gets crushed.
But what is there isn't anything to crush against? What if I "step" on an egg, and there isn't any ground beneath it? Well, in that case, the egg would just move away from my foot. I didn't so much crush it as kick it. (Let's not get into the idea of kicking it so hard it breaks. A discussion of inertial mechanics and structural integrity is a bit beyond this post...) Similarly, if I try to "crush" paper with the flat of my palm, it mainly just bends and drops away from me.
So clearly, crushing requires some element of resisting force, something to be crushed against.
Now, in the case of the planets (and pretty much all other objects in space), we need to look at what gravity really does. Without gravity, things would just be flying through space in a straight line. Once we introduce gravity as a force, objects in space will be attracted towards each other. When this happens, they won't be moving in straight lines anymore: their paths will start curving towards each other. There are basically three outcomes when two objects are attracted. (Also, remember that gravity gets stronger as objects get closer and as objects get more massive. Huge things like stars have a lot of gravitational force.)
Option 1: The effect is weak. Either because the objects are small and don't have a lot of gravitational attraction, or their too far away, or at least one is moving too fast, one or both objects will curve in their path towards the other, but for the most part keeps moving until it is far enough away that the effect is negligible, and it flies off in a more or less straight line.
Option 2: The effect is strong. The path of the objects bends so much that they turn towards each other. The force of gravity increases as they get closer and closer, until they finally hit one another. (This is how pretty much all objects in space of any substantial size form.)
Option 3: Balance. The gravitational force is just enough to pull the objects into a circular path so they can't escape, but not strong enough to cause them to spiral into each other. In this case, the objects are in orbit. Either one is orbiting the other, or they are both orbiting a common center of gravity.
Obviously, the planets are all in a state of option 3. Anything moving too slowly would have spiraled into the sun, and anything moving too fast would have escaped the solar system into deep space. What is left is the planets and their assorted friends. So, the force or "pressure" of gravity in space is just enough to hold the planets where they are, but not enough to pull them to the sun.
But! The planets are getting crushed by gravity! Just in a different way than you were thinking. As clumps of matter were running into each other in the early solar system, they were attracted by gravity. As clumps grew larger, they attracted more clumps, and more, until they were growing to planetary sizes. Now, objects have what is called a center of gravity. This is the single point that all parts of the object are attracted to by gravity. In large objects, it is typically near the middle of the object. In the case of planets, all the parts of the surface are getting "crushed" towards that center. This is why planets are generally spherical. All parts of the surface have been "crushed" or pulled to be roughly the same distance from the center of gravity: this is the radius of the planet.
Hope that helps, although it probably raises more questions than it answers.