Great summary of two ideas.
First, Zubrin's concept of a direct-to-mars-and-return mission. This is a minimal-cost mission, which before SpaceX, was anticipated to be about $10-15B. Now that the Falcon launch vehicles are proven, the cost and risk have fallen substantially, but the likely mission has also expanded in scope, but still, this idea of a limited mission using just the required steps and technology, rather than NASA's attempts to justify a bunch of existing programs by linking them through tortured and tangential logic to a very complex and massively expensive plan, is solid.
Second, Zubrin's analysis of NASA's culture (particularly in the Shuttle era, and pre-SpaceX; 1980s-2010 or so) is spot on -- it is a pathologically risk averse bureaucracy and unsuited to the task.
Before SpaceX, I had basically given up on space as a viable field of human endeavor, as governments have every incentive wrong in doing it well. Fortunately, this book is now actually somewhat overcome by events it itself might have accelerated, and the "Mars Direct" option might not be the best option, but rather a more ambitious, but even more efficient, "Mars to Stay" could be better.