The main goal, even if NASA and it's ilk aren't really addressing it is the long-term survival of the human race.
If you think our survival is important, a significant portion of our population as a species needs to be "out there", otherwise all our eggs are in one basket. Even with all the scientific evidence we now have, humans tend to have a rather myopic view of geologic time, much less just our own history on a millenial scale.
Asteroids/Comets
Ice Ages
Supervolcanisim
War
Plauge/bio-war
Technological "oopses" (run-away nanotech, malevolent AI etc.)
Natural changes in solar output or mega-flares
And the list goes on...
And even if one of those events, or some combination of them is not enough to make Earth "worse" than places like the Moon, Mars, or artificial space habitats, the technology developed to live in those places will make sheltering on a less hospitible or battered Earth childs play.
Now neither NASA or any commercial concern is doing much to attack this directly, but something is better than nothing. What little manned exploration we have is the very thin thread that holds the long-term survival of our species, our history, and our culture.
If you have a Chiliast viewpoint, or are okay with humanity having it's time, then dissapearing, then none of the above is going to matter to you. Of course, it'll suck the most for the children of the "last generation" as we go extinct. The little ones who haven't been able to enjoy the most of their lives. Although I suppose if one believes they're all going to ascend into Heaven, or Heaven will come to them, that notion does not bother you either.
And if there is a rapture or some other divine catharsis, I think an eternal, omnipotent, and all powerful God can find us on the Moon, Mars, or somewhere around Alpha Centauri if he/she/it wanted to.
Personally, I think that the old joke of the man praying to God to rescue him from his roof in a flood applies here. The one where the man refuses several kinds of earthly rescue, and then finally drowns, and then standing before God, asking why his prayers weren't answerd, and God says: "
Well, I sent you two two boats and a helicopter you dumbass..."
Science, nuclear power, rockets, etc... Those are the "two boats and a helicopter" God has given us, we're fools if we don't use them.