>a bit heavier than Earth

A planet's mass doesn't matter so much as the density. If you look at a planet like Saturn, it is almost 100x heavier, but it's surface gravity is nearly identical to Earth's. What really matters for rockets though is the surface escape velocity, which scales like the square root of mass divided by radius. So for large radii it is slightly worse than density, which scales like mass divided by radius cubed. Ideally you would live on a small rocky planet (Mars ftw).