Once we send humans beyond the moon in some reasonable degree of safety...
Space systems engineering is my specialty. For early missions to Mars, radiation adds a 3% lifetime risk of cancer (not death). The Space Station is 20+ years old, and hasn't killed anyone yet. So depending what you call "reasonable safety", we are already below the death rate of people climbing Mt. Everest, which is a voluntary risk.
SpaceX intends to send "fleets" of ships to Mars at a time, not one. So a failure of any one ship doesn't have to mean they all die. They get redistributed across the remaining ones. In the longer term, there are "cycling" orbits that repeatedly go between Earth and Mars. We can build substantial habitats, with radiation shielding and artificial gravity, that travel that route. It doesn't matter how heavy they are, because they are not moving once placed in the right orbit. Those would be more comfortable and safer than smaller ships.
All of that won't happen for a while. It will be a step-by-step evolution. The first step beyond low orbit is supposed to be the "Lunar Gateway", a small station near the Moon that will assist in reaching the lunar surface and returning. Once on the Moon, the plan is to mine ice and other compounds from "cold traps" near the poles. Those craters never see the Sun, so they are very cold. When a comet or asteroid that has those compounds hits the Moon, some if it freezes out there before the rest of it escapes to space.