There are plenty of scrappy competitors out there, but they're generally a bit farther behind than SpaceX. SpaceX chose to use the most straightforward rocket design conceivable and develop it as cost effectively as possible. So far that strategy is working very well. Other companies have chosen to pursue other designs, generally more reusable in nature. They also don't have the cash that SpaceX does, slowing their progress a bit. In a few years we may start to see their work come to light.