What could plausibly happen on Earth that would make it less habitable than, say, Mars?
Mars can never support a self-sufficient human population as it lacks so many elements in reasonably sufficient concentrations and accessibility. For example, plants require nitrogen. The Martian atmosphere is 2.7% nitrogen but the atmosphere itself has been described as a 'laboratory grade vacuum', coming it at about 1% the density of Earth's. And that's just one issue

20 Ways the World Could End
Are we in danger of being erased from the universe? Here we look at the factors that could doom humanity: natural disasters, human-triggered cataclysms, willful self-destruction, and greater forces directed against us.

I said that we will need to develop a way to extend humanity beyond earth. I didn't say that we need to colonize Mars. Visiting Mars might just be an early step.