SpaceX's vision involves three phases: 1) Figuring out how to put things in space, 2) Reducing the cost of space travel through ongoing delivery services, 3) Bringing the cost of sending a person to Mars under $500,000. SpaceX aims to safely and reliably deliver payloads to orbit at much lower prices than competitors through transparent pricing, milestone-based development, and carrying risk themselves. They have innovated through reusable rockets using a single engine type, and mass production through vertical integration and newer manufacturing technologies like 3D printing. Key milestones include NASA contracts, crewed flights to ISS, and successful rocket landings.