How should my mother's assets (savings, deed to house, etc) be set for minimum death taxes?

You should go together to see an estate attorney. You may also want to see a financial planner, but make sure this person knows Medicaid laws. The sooner you do this the better. This is something that is different in every state, though Federal law also figures in. Don't try this without an expert.
Carol

This is really more of a legal than tax question and the situations are different for every individual.

I would recommend that you and your Mom make an appointment with an reputable Estate Planning Attorney in your area. He/she will provide you with the proper guidance for your particular situation.