"The Chart of Cosmic Exploration features hand-illustrated renderings of every orbiter, lander, rover, flyby, and impactor to ever successfully slip the surly bonds of Earth's orbit. Plus all of our pretty-cool planets in our pretty-great Solar System.
The Voyager 1 and 2 spacecraft flew by Saturn in 1980 & 1981 and were able to pay only fleeting attention to Titan, the second largest moon in the solar system and the only moon with an appreciable atmosphere.
Besides this we're looking at it from the wrong angle here, this is what we would need to survive, not other beings perhaps. Still a good Infographic: Where else could some form of life exist within our solar system?
Trapped in a bubble! Scientists shed light on the Earth's galactic neighbourhood