Build a cheap reliable heavy launcher (Falcon IX or something similar), then a capsule type system both for manned and automated cargo delivery. Use the heavy lifter to assemble a large space station in an orbit parallel to the ecliptic, allowing for easier trips to other bodies in the solar system. This station would be used as a test bed for in-space technologies, and as an assembly point for larger spacecraft that can safely and effectively carry people to destinations beyond LEO.

IMO, the craft that eventually carry people out into the solar system will have to be large and well built vessels. Ships with the structural integrity and strength to allow them to be used for decades on end. A large dual keel type space station will have to be built to act as a shipyard and homeport for them.