We study the asymptotic flocking dynamics for the Cucker–Smale-type second-order continuous-time dynamical system with the Rayleigh friction. For mean-field communications with a positive lower bound, we show that an asymptotic flocking occurs for any compactly supported initial configuration in a large coupling regime. In contrast, in a small coupling regime, an asymptotic flocking is possible for a restricted class of initial configurations near complete flocking states. We also present several numerical simulations and compare them with our analytical results.