More payload means more fuel. More fuel itself means more fuel.
Maybe this is obvious, but two rockets can get twice as much payload to orbit using twice as much fuel. You can that up linearly all day long. (It holds for "twice as much", but the same argument doesn't work for "twice as fast" or other metrics.)
If X is 500t and Y is 5t, you now need 51,000t of fuel to achieve 2 * Z speed.
But yes, you still require more energy (exactly sqrt(2) times as much) to "escape" Earth's gravity entirely than to orbit it with a circular orbit.
So if you can get off the planet you can get anywhere... but that doesn't mean cost-effectively. If your planet is such that it takes a Saturn V to launch a cubesat, it may simply cost too much to make it to the Moon.
I haven't run the numbers, but he's right: it's pretty hard to get something that can carry itself to orbit. It has to climb out of the atmosphere directly against gravitational force and atmospheric drag, and then as early as possible turn sideways and start accelerating to around 28000kph while making sure the rocket is pointed in the right direction and holding together. You need a lot of propellant to get to that state, which means you have to carry it around until you need it, which means the machine needs to be much bigger than just the cargo, which means that all of your challenges just magnified by many orders of magnitude.