What is the proper way to seek asylum in USA?

To apply for asylum affirmatively or defensively, file a Form I-589, Application for Asylum and for Withholding of Removal, within 1 year of your arrival to the United States, Visit our Obtaining Asylum in the United States page for more information on affirmative and defensive filings

Migrants can request asylum as a defense against deportation if their asylum application is denied, or if they are apprehended for lacking valid documentation