I think it might even have negative return. If you do PR in that regard you are going to encourage misallocation of NASA funds. NASA should spend more resources on tracking near-earth objects and less on PR moves like trying to put a man on Mars. Understanding the climate of our own planet better is also an useful target for NASA spending.

Building human civilisation in Alaska is much easier than doing it on Mars. We don't even get things right in Africa where there fertile ground on which plants grow.

Colonizing Mars will need much better biotech and smarter robots than we have at the moment.

.. the obvious E-A answer to this question is "Don't do any pushing". - Increased space presence is a nigh-certain consequence of a more generally prospering and peaceful world, and diverting resources towards pushing this above trend is going to have just awful returns in utility per dollar. Space will happen on it's own accord as people find useful things to do there (I figure telescopes will be the main thing, tbh.) but beyond that? People are already mapping the asteroid trajectories, which is the only issue really directly relevant to E-A work. If the world dies, and a remnant lives on in tincans in space, that is.. not actually very helpful.