The Apollo 11 astronaut, 89, said that Hawking felt humans should first travel back to the Moon before looking at further challenges.
Renowned physicist, Hawking, who died in 2018, believes that humans will make big strides in space travel during the century.
Aldrin said how Hawking told him that once back on the Moon then further missions should be planned around the solar system.
Alrdrin was the second man to step on the moon in 1969 after Neil Armstrong.
“He said, in that computerised voice of his, ‘colonise the Moon first’ and I realised that there are so many things we need to do before we send people to Mars”
He was speaking at the Starmus festival in Zurich where he received the Stephen Hawking Medal for Lifetime Achievement.
Aldrin said: “I was in his office and I had been anxious that we should make a continuous orbit between Earth and Mars.
“He said, in that computerised voice of his, ‘colonise the Moon first’ and I realised that there are so many things we need to do before we send people to Mars and the Moon is absolutely the best place to do that.”
US vice-president Mike Pence said last March that the country was committed the country to putting humans back on the Moon within the next five years.
Hawking told in his final book “Brief Answers to the Big Questions” that humans will eventually live in space.
It was published six months after his death following a lifelong battle with Motor Neurone Disease.
He said: “I expect that within the next hundred years we will be able to travel anywhere in the solar system except maybe the outer planets.”
While at the same time not believing in God, Hawking felt that the human race was “standing at the threshold of a new era” of space travel and that colonising other planets was no longer science fiction.
He continued: “I am optimistic that we will ultimately create viable habits for the human race on other planets.
“We will transcend the Earth and learn to exist in space.”