There's a school of thought which views Venus as a better colonization candidate than Mars, and as early as the 70's scientists envisioned floating cities. From https://en.wikipedia.org/wiki/Colonization_of_Venus:
In effect, a balloon full of human-breathable air would sustain itself and extra weight (such as a colony) in midair. At an altitude of 50 kilometres (31 mi) above the Venusian surface, the environment is the most Earth-like in the Solar System beyond Earth itself – a pressure of approximately 1 atm or 1000 hPa and temperatures in the 0 to 50 °C (273 to 323 K; 32 to 122 °F) range. Protection against cosmic radiation would be provided by the atmosphere above, with shielding mass equivalent to Earth's.
Being able to wear a simple breathing mask while working outside instead of a full pressure suit is a boon. Of course high windspeeds and the constant bombardment of acid rain would be a problem.
I could imagine Venus one day being an exotic, cloud-top paradise for the rich (reminiscent of BioShock Infinity) that's expensive to maintain, and Mars a brute workhorse that eventually displaces it as a more resilient habitat over the very long term (eg. after terraforming).