The presence of telepathic dragons might lead you to think of these books as fantasy, but the dragons have been genetically engineered by early settlers on the planet of Pern, and then natural disaster has led to the colonists being cut off from Earth. Science fiction rarely takes place in the actual past, perhaps because so much of it demands a higher level of technology than we have now. In fantasy the explanation is usually magic, either actual, assumed or psychological. Actually, things such as extra sensory perception and astral traveling can belong to either the scientific or magical worlds. It depends on the way they re presented.
Fantasy often calls on myth and existing or putative legends.
Space travel is a reality, but at present we can t hope to go far enough in a human life-time to reach another habitable planet. Other dimensions can occur in either. Well, another planet is a place to which you might travel if you had a spaceship that was fast enough. Fantasy often deals with the clash of good and evil, or of power and the lack of it. A very common theme is sci fi is the return of medieval ways and attitudes.