After many years of developing a human-rated vehicle, SpaceX recently carried humans to the International Space Station on its Crew Dragon capsule atop its partially-reusable Falcon 9 rocket.
SpaceX's Starship rocket is an under-development super heavy-lift launch vehicle, intended to be fully reusable and to carry humans to destinations throughout the Solar System. Although SpaceX has proven that it can successfully accomplish some aspects of this (reuse a rocket's core stage multiple times, carry humans in a spacecraft), there are further milestones to overcome (recover all stages of a rocket, build a rocket from stainless steel, etc.).