Yes, and it's wonderful.

SpaceX is really kicking arse at the moment. Within a decade, the cost of transfer of payload into LEO should plummet. There's no particular reason why you can't launch a few payloads of fuel into orbit and then grab any old space module and fuel up and set off to anywhere in the Solar System to harvest resources. Exciting times. If SpaceX wasn't a load of old hot air as I'd feared, then why should Planetary Resources or any of the other new space firms succeed?