On July 12, TIME editor-at-large and space reporter Jeffrey Kluger had a far-ranging conversation with SpaceX CEO Elon Musk at the company’s headquarters in California. They discussed Musk’s reasons for starting SpaceX, his thoughts on his various challengers in the new race to the moon, and his predictions for the near-future of human space travel. The interview below has been lightly edited and condensed for clarity. (For more of the interview, tune into CBS Sunday Morning, July 21, at 9:00 AM, ET.)

TIME: History is usually most viscerally felt by people who lived it. If you lived through World War II, you understand World War II. You came along two years after Apollo 11. And yet space seems to be in your marrow.

Elon Musk: