The Voyager 1 and 2 spacecraft flew by Saturn in 1980 & 1981 and were able to pay only fleeting attention to Titan, the second largest moon in the solar system and the only moon with an appreciable atmosphere.
NASA's Messenger reveals close-ups of Mercury's sun-scorched surface
Besides this we're looking at it from the wrong angle here, this is what we would need to survive, not other beings perhaps. Still a good Infographic: Where else could some form of life exist within our solar system?
Here's how ridiculously fast we could visit everything in the solar system if we traveled at the speed of light