Fora.TV has a 90-minute interview with the ever-chatty SpaceX founder Elon Musk. He talks about his ambitions on space, Tesla Motors, solar power and more. If you scroll down on the landing page, you can skip ahead to relevant segments of the interview about space. (Thanks to 62mileclub.com for finding this interview).
There is also this story from an appearance at his alma mater, the University of Pennsylvania.