1. Cause. It's not that you don't get the engine warm enough, although that can contribute. Any time you operate an engine, a normal result of combustion is water vapor. You are oxidizing hydrogen. H2O. Some of that vapor blows past the rings and enters the crank case. There is always hot, humid air in the crankcase of a running IC 4-stroke engine. When the engine cools the air cools. When hot, humid air cools there is condensation. Getting the engine fully warmed up in operation does not and cannot prevent this.
2. Prevention. Get a dryer or build one yourself. There are various models and approaches that have been discussed in this forum. I suggest searching on dehydrator. Some, perhaps all, are highly effective. Aviation Consumer also did an article on them within the last two years, I think.