So eventually he'd move there and live.
SpaceX's BFR is now called Starship.
Musk backed up this timeline on Sunday, telling Axios that human trips to Mars would be possible in seven years time.
After surviving that "production hell" as he termed it earlier this year, the 47-year-old now says he's ready to personally take on the Red Planet.
SpaceX aspires to send its first cargo mission to Mars in 2022, according to its website, with a manned mission targeted for 2024.
But the adventure of a lifetime won't come cheap; ticket prices are forecast to cost "around a couple hundred thousand dollars" each.
Nevertheless, this high fee has led some to criticize the prospects of space travel, suggesting it will only be available for elites.
And it will not just be a safe-haven for bad-behaving zillionaires.
And despite the risks, Musk asserted that he would go without hesitation.
He also rejected claims that Mars could become an "escape hatch" for the rich when the Earth's resources are depleted or global warming makes the planet near uninhabitable, saying that early missions would be incredibly unsafe, likening it to climbing Mount Everest.
"It's gonna be hard", he continued. "There's a good chance of death, going in a little can through deep space".
"Even if you land successfully, you'll be working nonstop to build the base", Musk added. And once you get there, even after doing all this, it's a very harsh environment, so ... there's a good chance you die there. "So. there's a good chance you die there".
When pressed about whether or not living on Mars would be an escape from the problems humanity is dealing with on Earth, Musk fired back.
Still, Musk shrugged off the idea that a cosmic cruise would be "an escape hatch for rich people".
The ad has gained the imprimatur of the Shackleton Foundation.