For the singular purpose of human habitation, not really. Unless we find significant resources on other moons or planets and their value outweighs the cost of extraction, even with better space travel and hauling, the danger of living on extraterrestrial bodies remains. Space is dangerous even with the best technology - our science fiction even includes this quite often where breaches to spacecraft or colony buildings leads to disaster.

That being said if research was the main goal and we could justify the cost of it then the icy moons of Saturn and Jupiter, notably Titan, Enceladus and Europa would be the best targets if you care about discovering life as they are most likely to harbor it.