I don't think you've been following SpaceX closely. Yes, the Falcon 9 (and Falcon Heavy) are intended mostly for orbital ops, recognizing that ALL orbits are within reach of a Falcon 9 (5500 kg to GTO, heck they even advertise 4000 kg to Mars!). If you've got a spectacularly heavy satellite, the Falcon Heavy will get it there, whether you want it to orbit Earth or the Moon.
But the whole purpose of the company, from the day it was founded, was to get to Mars - and not just get there, but get there in sufficient quantity to set up a human colony there. The Starship/Super Heavy are sized to launch 100 people at a time, or 100,000 kg of payload, to Mars, and do it a hundred or more times during a launch window. It's an absolutely crazy idea; completely bonkers, can't possibly work.
But what they're capable of today has nothing to do with what they expect to be capable of in 10 years. Remember that just 12 years ago Tesla was retrofitting laptop batteries into rolling Lotus Elise chassis one at a time. 12 years ago, SpaceX had just launched their very first successful Falcon 1 rocket (after 3 not-so-successful attempts), and since then has developed 5 generations of Falcon 9 and two successful state-of-the-art rocket engines (Merlin and Raptor), have launched over 100 payloads to orbit, have successfully delivered astronauts to the ISS (and got permission to do it in the future on re-used boosters and capsules), and have launched the worlds fastest and highest water tower, built in an open field in Texas. If anyone can build and launch a Mars-capable spaceship in the next few years, it's gonna be Elon Musk.
I don't agree with you that they have different missions; SpaceX is simply more laser-focused and far more efficient at executing the mission. Are they less safe in doing so than SLS/Orion? I think that's a great topic to discuss over beers, because I don't think there's unequivocal data either way.