Re: No Martian would dare invade earth
Our propulsion technology still isn't really capable of that. You've got chemical propellants, or nuclear reactors but in the latter case, you still need a propellant (e.g. water vapour, something to expel at high velocity for thrust). Unless you want to detonate nuclear reactions behind you, with massive shielding. The logistics of that don't seem very practical either.
Nuclear fusion technology is not there yet. (In that case you could probably scoop up some hydrogen in transit to supplement)
Given time, a generational ship could reach a destination but you'd run out of things you can carry. You'd really need a means of propulsion with a higher exhaust velocity to accelerate to practical velocities. Momentum isn't lost much in space, but you're never going to go faster than your means of propulsion.
With our current technology we could manoeuvre in our solar system. Necessity is the mother of invention, we could figure that out right now if there was a good enough reason. Frankly, at this time, there is not. Even valuable metals from asteroid mining wouldn't be worth the cost of bringing back to Earth. So chicken before egg. There's no need to mine metals in the solar system, until there is a human presence, where it's practical to use them.
P.S. It's not only propulsion, but shielding. Physical shielding weakens when exposed to cosmic rays and solar winds and stuff. It becomes almost as dangerous as the particles you are shielding against.