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The nuclear thermal rocket (NTR) has frequently been discussed as a key space asset that can bridge the gap between a sustained human presence on the Moon and the eventual human exploration of Mars. Recently, a human mission to a near Earth asteroid (NEA) has also been included as a deep space precursor to an orbital mission of Mars before a landing is attempted. In his post-Apollo Integrated Space Program Plan (1970 to 1990), Wernher von Braun, proposed a reusable Nuclear Thermal Propulsion Stage (NTPS) to deliver cargo and crew to the Moon to establish a base initially before sending human missions to Mars. The NTR was selected because it was a proven technology capable of generating both high thrust and high specific impulse (Isp approx. 900 s)-twice that of today's best chemical rockets. During the Rover and NERVA programs, 20 rocket reactors were designed, built and successfully ground tested. These tests demonstrated the (1) thrust levels; (2) high fuel temperatures; (3) sustained operation; (4) accumulated lifetime; and (5) restart capability needed for an affordable in-space transportation system. In NASA's Mars Design Reference Architecture (DRA) 5.0 study, the Copernicus crewed NTR Mars transfer vehicle used three 25 klbf Pewee engines-the smallest and highest performing engine tested in the Rover program. Smaller transfer vehicles-consisting of a NTPS with three approx. 16.7 klbf SNRE-class engines, an in-line propellant tank, plus the payload-can be delivered to LEO using a 70 t to LEO upgraded SLS, and can support reusable cargo delivery and crewed landing missions. The NTPS can play an important role in returning humans to the Moon to stay by providing an affordable in-space transportation system that can allow initial outposts to evolve into settlements capable of supporting commercial activities. Over the next decade collaborative efforts between NASA and private industry could open up new exploration and commercial opportunities for both organizations. With efficient NTP, commercial habitation and crew delivery systems, a mobile cislunar research station can transport crews to small NEAs delivered to the E-ML2 point. Also possible are week-long lunar tourism missions that can carry passengers into orbit for sightseeing (and plenty of picture taking), then return them to Earth orbit where they would re-enter and land using a small reusable lifting body based on NASA's HL-20 design. Mission descriptions, key vehicle features and operational characteristics are described and presented.