Orbital angular momentum and polarization states of highly focused vector vortex beams can be engineered to selectively excite the desired multipoles in nanoparticles, making them ideal candidates for complex optical applications. A platform based on the generalized Lorenz–Mie theory integrated with the complex source point method is developed to model the interaction of such beams with particles analytically. The existing platform is extended for obtaining the full‐vector electromagnetic fields, outlining the observed effects that adding a substrate brings to the problem space. Despite the cross‐coupling between different multipoles induced by the substrate, it is concluded that the proper choice of beam parameters enables the selective excitation of multipoles even in the critical case of a plasmonic substrate. The proposed formalism is general and allows a multipole study of the optical forces. Selective excitation is exploited to control the imparted optical forces on particles placed on a plasmonic substrate. 3D trapping regions are achievable for highly absorptive and high‐refractive‐index particles. Motion trajectory analyses are performed to demonstrate the trapping stability, concluding that highly focused optical beams, owing to the exceptional selective excitation ability, are suitable candidates for novel optical manipulation applications.