I think what you're looking for are reflection principles. A reflection principle asserts that there is a set that looks like (in some precise way) the universe of all sets.
Take your analogy of the real numbers $\mathbb{R}$ being the metric completion of the rational numbers $\mathbb{Q}$. It is natural to think that if a sequence in $\mathbb{Q}$ appears to converge in the metric, then perhaps there is a larger space, containing (an isomorphic copy of) $\mathbb{Q}$, in which it actually does converge. There is such a space, namely $\mathbb{R}$.
Now analogously, say we have a sequence of axioms $a_1, a_2, \ldots a_n$ for set theory. If these axioms appear to be consistent, then perhaps they are. If they are, this means that the statement $a_{n + 1} = $ "Axioms $a_1, a_2, \ldots, a_n$ are consistent" is true, so we can add $a_{n + 1}$ as a new axiom, producing a stronger set theory. Furthermore, it's an obvious candidate for a new axiom, because we know it cannot be proven from the previous axioms (given they can encode basic arithmetic) by Godel's second incompleteness theorem.
This approach is one example of a reflection principle, since by Godel’s completeness theorem, a set of axioms is consistent if and only if it has a model. That is, there is a set in which the axioms hold. So we see that in set theory, there is at least one very obvious way to extend a given universe of sets $V$ to a larger, more complete universe. Namely, consider a universe in which $V$ itself is an actual set! We don’t know all the properties that should hold in $V$, all we have is our specific set of axioms. But we can choose some or all of those axioms, and add an axiom saying that a set exists that satisfies them.
For example, the set $V_\omega$ of all hereditarily finite sets is a model of all the axioms of ZFC except the Axiom of Infinity. For instance, it satisfies the Axiom of Power Set, because if $x \in V_\omega$ then $\mathcal{P}(x) \in V_\omega$. This means that if took we took ZFC but left out the Axiom of Infinity, then our universe of sets would look like $V_\omega$, even though $V_\omega$ would not be a set. Then if we added in the reflection principle "There is a set that looks like the universe, in the sense that it is non-empty, transitive, and closed under power set" as an axiom, we would obtain the actual set $V_\omega$ (in general we would obtain a superset of $V_\omega$ but could then recover $V_\omega$ as a subset).