My daughter is 12 years old and US Citizen. My Sister is also a married US Citizen of 25 years Old

Me, my husband and son are now in US with B1/B2 Visa. We would like to stay in US. We were thinking to ask for asylum but I am wondering if we have another option due to family ties.

Thanks for the help

What country are you from?

I am from Ethiopia

This is my 4th time in US and I am still in a valid status until Jan 2010. Please help me to head start the relevant process.