The entrepreneur achieved that ambition on Saturday 30 May 2020, when the Crew Dragon spacecraft carried Nasa astronauts Doug Hurley and Bob Behnken into orbit for a rendezvous with the International Space Station (ISS).
The docking occurred barely 19 hours after a SpaceX Falcon 9 rocket blasted off Saturday afternoon from Kennedy Space Center, the nation's first astronaut launch to orbit from home soil in almost a decade.
President Donald Trump delivers remarks in Kennedy Space Center's Vehicle Assembly Building with a mockup of SpaceX's Crew Dragon capsule in the background.
Prior to docking, the astronauts took control of the Crew Dragon to test manual piloting of the craft in space, before putting Dragon back into its automatic docking mode.
The countdown proceeded smoothly throughout the day, with the SpaceX Falcon 9 rocket and Crew Dragon spacecraft in good health and the astronauts ready to fly. U.S. astronauts have been using Russia's Soyuz spacecraft to travel to the ISS since Nasa's final space shuttle flight - piloted by Hurley - in 2011.
While Musk, the ambitious entrepreneur behind SpaceX, has named the price of a seat on his spacecraft as $60 million, Roscosmos chief Dmitry Rogozin has announced Russian Federation is working to cut its price by 30 percent.
Saturday's launch was the first of American astronauts from USA soil since the mothballing of the United States shuttle program in 2011 that left Russia's more basic and reliable Soyuz spacecraft exclusively responsible for transporting crews.
"I think this is something that's particularly important in the United States but appeals to everyone throughout the world who has within them the spirit of exploration", Musk said.
"When we were losing the launches market, Roscosmos said everything was fine because we were the only ones sending people up to the ISS". The mission was initially supposed to be launched on May 27 but was delayed due to poor weather conditions at the last minute.
The SpaceX launch is the first of American astronauts from U.S. soil since the space shuttle program ended in 2011 and the first crewed flight ever by a private company. "One of the Secret Servicemen said they were here with the past administration - I won't tell you who - and they were here to shut down the facility".
The mission comes amid the coronavirus crisis and protests in multiple USA cities over the death of a black man in Minneapolis while he was being arrested by a white police officer. NASA, which partnered with SpaceX, hasn't decided how long the astronauts will stay up in space.
Astronauts since then have all trained at Star City outside Moscow and studied Russian before blasting off from Baikonur launchpad in Kazakhstan. Behnken was the first to enter the space station.
They blasted off from Launch Pad 39A, the same one used by Neil Armstrong on Apollo 11's 1969 journey to the Moon. He was accompanied by fellow astronaut Robert Behnken.
The two Americans, both spaceflight veterans, will spend up to four months orbiting Earth while engineers from SpaceX analyze every aspect of their spaceship's performance.
Yet that prospect seems unlikely, she added, given that "the US Congress refuses any space cooperation with China".