https://arxiv.org/abs/2011.07487
is a plan to build a structure that could support a population larger than the Earth. (I'd read that paper not just as boosterism or science fiction but also as a criticism of other space colonization schemes whose problems it addresses.)
That kind of colony would be a solar economy but with deuterium-deuterium fusion you could support a similar lifestyle in the outer solar system or interstellar space. Hopping from comet to comet with a comfortable lifestyle, travelers could make it from star to star in 10,000 years ago but they might be completely uninterested in comparatively dry inner solar system bodies like the Earth and Mars when you could cut up a planet like Pluto to create much more living space.
Mars is a small planet compared to the Earth. If you actually want to widen mankind's prospects, look to the asteroid belt, where it takes just 10⁷ kg of material per person to build a habitat as opposed to the 10ⁱ⁶ kg of planet needed to support you.
So I think asteroids are a more interesting target than Mars, probably not that much harder but a much larger reward. Mars is a smaller planet than the Earth and would have a hard time outgrowing us, but Ceres really could be a path to the stars.