Having precognition doesn't change anything, the point is that Kenshiro will know he's in danger and Lucius having better precognition doesn't stop Kenshiro from seeing the future.
That doesn't matter because by the time Kenshiro sees the future, he will be frozen in time, not able to do a thing.
Kenshiro resists mind manipulation so all that will happen when Lucius uses soul manipulation is that Kenshiro will gain stats boost, a Holy Magic, Devil physiology and a bunch of hax and resistances that come from mana. He will become a paladin who is not mind controlled.
Lucius puts an order into your soul, mind manip resistance hardly matters here.
And no, the Devil Power and power of Paladins are not automatically gained the moment he touches his soul.
Not only that, Lucius cannot granting anyone Mana, if Ken doesn't have innate Mana to begin with he won't be able to use any power that Lucius may grant him (assuming he's even dumb enough to do so).
Kenshiro would just end up being possessed and corrupted by a devil, if anything.
Lucius can also just knock him out by touching his soul too, or just one shot him via the AP difference.
The point is, the moment time is stopped, Kenshiro cannot think, thus cannot activate any techniques.
That gives Lucius many choices to beat him (And the guy can see 20 thousands futures so he can't even pick a bad option by mistake)
and one of Kenshiro's first moves is to increase his Ki and that's a whole blitz in speed.
Increasing ki would take more time than Lucius stopping time. And again, in-verse speed blitzes are irrelevant when it comes to cross-verse matches.