The atmospheric makeup of both Mars and Jupiter cannot support live right now, due to their atmospheric makeup. Jupiter's atmosphere is mainly made up of Hydrogen, while that of Mars is mainly carbon dioxide.

Some 4.5 billion years ago, Earth's atmosphere was mainly carbon dioxide, and there was little or no oxygen. But due to environmental changes, today, Earth has become habitable.

I believe in the distant future, the same can happen for Mars and Venus, who both share similar atmospheric conditions, that Earth once had.