Getting to Mars is an order of magnitude more difficult than a quick jaunt to the moon, so it's really shouldn't be surprising we haven't gone. Not least because there isn't any reason to go. Hell, there isn't any reason to go to the moon, which is why we haven't bothered to return for forty years.
In fact, I would argue the moon landings were a mistake, in that we spent a whole lot of money building a system that did one useless but amazing thing instead of spending less money figuring out how to give ourselves the capability to do lots of useful and amazing things at a reasonable cost.
If Elon Musk wants to pay for a Mars trip I'll cheer him on, but nobody's ever been able to articulate a compelling reason for it. A trillion dollars is a lot of money, and I'd rather see it go toward tax cuts or paying down the national debt.
Driving down costs is not only an issue, it's the primary issue. If we have to pay $10k per kg to get stuff into LEO none of the activities that would support a permanent presence in space are worth doing.