https://www.sec.gov/edgar/browse/?CIK=1181412

Musk & Griffin had a relationship around establishing a Mars colony even before SpaceX foundation. Musk even tried to recruit Griffin when assembling SpaceX founding team.

Book: Liftoff, p. 11 - https://books.google.com.br/books?id=DQ7jDwAAQBAJ&printsec=f...

By 2005, SpaceX was already leasing a launch pad for Falcon 1 and Falcon 5.

https://spaceflightnow.com/falcon/050120lc36/

In 2006, Nasa contracted SpaceX, referred by Griffin in the link you shared.

https://www.nasa.gov/wp-content/uploads/2015/04/189228main_s...