The billionaire entrepreneur has made no secret of his desire to reach Mars and is currently developing Starship for inter-planetary exploration.
Mr Musk has said he hopes to land on the Red Planet by the end of the decade and to have established a self-sustaining colony on Mars by 2050.
So far, each Starship test flight has ended in spectacular explosions, but SpaceX plans on carrying out an orbital Starship flight by July.
Now the “Mars Sucks” advert has been placed on a billboard outside the SpaceX campus in Hawthorne, California, by Los Angeles creative agency Activista.
“What doesn’t suck? Earth. But the way we treat it frankly, sucks,” the company explained on Twitter.
“And then, you dream of Mars. A hellhole. A barren, desolate, wasteland you can’t set foot on fast enough. Great, we got to Mars. Now let’s prioritize earth.”
The 51st annual Earth Day, which promotes environmental protection, will take place on Thursday 22 April.
Joe Biden will host a “Leaders Summit on Climate Change” between 22 April and 23 April, which will involve the leaders of 40 countries, including those of leading polluters such as China and India.
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