Marine propulsion system and method with rear and lateral marine drives

A method of controlling a marine propulsion system for a marine vessel, wherein the marine propulsion system includes a lateral marine drive on a bow region of the marine vessel and configured to generate lateral thrust on the marine vessel, the method comprising:

• receiving from a user input device a propulsion demand input commanding lateral thrust from the lateral marine drive;
• determine a maximum allowable lateral output based on a speed characteristic, wherein the maximum allowable lateral output is less than a maximum capability of the lateral marine drive when the speed characteristic is greater than a first speed threshold;
• determining a lateral thrust command for the lateral marine drive based on the propulsion demand input and the maximum allowable lateral output;
• and
• controlling the lateral marine drive based on the lateral thrust command such that the lateral marine drive does not exceed the maximum allowable lateral output.