Does Blue Origin count?
Blue Origin can go to space. They are nowhere close to going to orbit.
We've sent things to space and back a long time ago. We call them airplanes. [1]
They're new engine (BE-4) that will power New Glenn is going through test firings now. Additionally, they're angling to get BE-4 sold into other launch stacks than just their internal hardware.
If they are able to get BE-4 out into other launch stacks in the next year or two, it's very possible that New Glenn will launch it's first mission before 2020.
New Glenn will be comparable to the Falcon Heavy in terms of lift. The Falcon Heavy won't have it's demo flight until later this year.
I'd agree that Blue Origin is behind SpaceX. Still, though, I think they are on a pretty good track to take second place in the reusable launch stack to orbit.
Please correct me if i misremembered.
They are actively working on their next gen launch stack (New Glenn), which is set to have its first launch before 2020. New Glenn will be a reusable launch stack capable of inserting payloads into orbit. It will be roughly similar to the Falcon Heavy in terms of mission capabilities.