Here is the vision Elon and SpaceX have for reusable rockets.
https://www.youtube.com/watch?v=sSF81yjVbJE
https://www.youtube.com/watch?v=Cf_-g3UWQ04
I can’t find the video, but he does show the Dragon capsule landing on Mars.
A Dragon on Mars! Elon Musk backs Nasa plan to send SpaceX capsule on sample return mission in 2020
15SEP2015
http://www.dailymail.co.uk/sciencetech/article-3235880/Elon-Musk-details-mission-Mars-SpaceX-founder-Nasa-plan-send-Red-Dragon-capsule-sample-return-mission-2020.html
I think I remember him saying the Dragon can deliver rovers to Mars using the abort rockets for a soft landing.