add reference geometry axis and planes
for cylindrical surfaces have you tried creating an axis. it can be at an intersection of 2 planes or select the outside circumference of a cylindrical surface.
the center line axises of 2 cylinders can be made coincidence or made to touch one another . the plane on a axis of a cylinder can be set parallel on or at a distance from another plane or at a specific angle to another plane.
PS I have read the book Solidworks 2009 Bible and am now reading Solidworks 2010 Bible. I learned much about Solidworks from the Solidworks 2007 Bible.
I suggest learning about all possible mate types and learning about all types of reference geometry