THE goal
The primary goal is to develop mechanisms for living in space, cheaper access to orbit, and rapid transit from one place in space to another. We also need to further develop robotic and remotely-controlled systems. We need systems to exploit space resources, including raw materials and energy. We aren't going to do that with the gold-plated space systems we have now.
Going to the Moon, Mars, or the asteroids will accomplish this, whether we do one or all of them.