Step 1. Stop calling the rightful owner of a domain name a "squatter", even if you don't happen to agree with the way he chooses to make use of his asset. [1]
Step 2. Contact the owner of the domain name and make him a reasonable offer. If the domain name has been registered for any length of time, it's highly likely the owner will renew it, and not let it drop. This is especially true if it has broad appeal or generic value.
[1] Based on your profile, it seems likely you are trying to get this name:
https://iwhois.com/herron.com
It has been registered since 1999 and the owner is a well-known domain name investor. Your best way to have a shot of getting the domain name is to contact him and offer to pay him a reasonable price for his asset. Note that he probably does not take too kindly to the pejorative term you have used to describe his profession.
Squatters are people who live in homes or real estate that they don't own -- not land owners who choose to keep their land undeveloped. There is a huge difference. You don't call the guy who owns a bunch of land just outside of town limits a "squatter", because he leaves the lots empty for years, even though you'd like to build a house there.
Cybersquatting is a very specific legal term which refers to bad faith trademark infringement. http://en.wikipedia.org/wiki/Cybersquatting
Unless you started your company and/or registered a trademark before the domain you want was registered, and the person registered it only as a result of having heard of your company or mark, then no "squatting" or "cybersquatting" has occurred.
Good luck.