1) Populate Australia and Siberia first.
2) Convert some oceans into land (or cover oceans with land).
3) Colonize Antarctica.
If you still have not enough land to play with -- consider spending money on playing with Moon, Mars, and Venus.
If you refer to turning Siberia, Northern Canada, Antarctica into a useful piece of agricultural land, yes that theoretically has value, but I doubt is practical given the risks to our climate. Plus I hope advances in agriculture and mining will not require terraforming those regions.
I think the main value of going to the Moon, Mars, or Venus is to have people be on multiple terrestrial bodies to hedge some extinction risk, to begin some sort of space exploration infrastructure in the future, and maybe find significant economic value in mining. We need those benefits even if we haven't colonized or terraformed all of Earth.
Of course, in terms of life support it's by far the cheapest place around.
That's not the case. People want to go, that's all that matters. Eventually technologically and economically it'll be feasible for that want to be met, and it will be.
Of course, it's a matter of preference. Many would still prefer to live on a planet. A dispersed civilization that includes the small bodies would be even more resilient to any one collision. More eyes out among the asteroids would also increase the chances of spotting potential collisions.
2) If you want to "insure" our civilization from disappearance -- focus on developing smart machines that can travel anywhere and carry our civilization accomplishments to other places. Sending people to other planets/asteroids is extremely inefficient in comparison with other options.
By this point it's probably easier to tow Mars to a better orbit. Or just blow Venus up and make a (partial) Dyson sphere.