People should definitely be allowed to live on Mars and anywhere else they can get established and survive simply because that encourages exploration throughout the solar system and hopefully beyond. Should people be sent there to live before initial explorers arrive and work the place over, determine what is safe and not safe, and then pass their judgment? Probably not, but one would imagine that Mars will probably be open to scientists and explorers living there first, before the planet sees any colonists trying to make it their new home.
Those who are uncertain about living on Mars should relax. They probably won’t see it easily within their lifetimes, and if anything, it wouldn’t be under any ownership of those on Earth, but an independent claim and research planet, much like Antarctica is as a continent. Of course, nobody is desperate about making Antarctica their permanent residence either, it just isn’t a very kind environment to how people are used to living. That same sentiment will apply to Mars as well, but more so. At least Antarctica is on the planet and has breathable air.
Unfortunately, settlement on Mars will not be easy. Besides the initial trip to get there, one would have to bring along enough supplies to survive the trip, the building phase, and the settlement phase. Never mind about leaving the planet and finding the way back to Earth. Would those aboard even be able to gather enough essential supplies before the return trip, and how much energy would it take to transport that as well as whatever findings the explorers wish to return with?
However, the distance, the need for supplies, and the slight impossibility are all good goals needed for advancing travel vehicles and other technology. Robotics and remote control operation of space vessels could remove the human element from the Martian colonization effort for many years, while establishing facilities necessary for supporting plant life first, and then Human life afterward. Orbital platforms could harness enough energy from the sun and function as a re-fueling station for return trips, should they be influenced by electrical applicators, possibly ion-thrusters. Although this approach delves into the science fiction realm, it certainly piques interest and enhances safety.
When will the first colony be erected, and when will the first inhabitants go to stay? That question could remain a mystery for quite a while. But when the answer comes along and it looks good, people should definitely be allowed to give it a try.