Given how SpaceX has landed things on a drone ship, presumably they're considering launching from a rocket that's been lifted above the bulk of the atmosphere using a balloon of some sort. You'd probably save a ton of fuel if you could launch from 40 or even 100K feet.
Rockets clear the most dense portion of the atmosphere very quickly. Building up speed is what takes time (and fuel).
Of course, the exponential nature of the rocket equation means that you'd get to save a lot of fuel. You'd still have to lift a lot of rocket though. With a balloon so big that would put the ships from the original Independence Day movie to shame.
Maybe it would be worth it on Venus.