So if this rocket gets us to Mars, what gets us back?
Given the planet's relative size compared to Earth I would assume the return vehicle requires thrusters much larger than the lander module has to reach escape velocity
This
long and unusual video actually shows the original Constellation mission profile pretty well - basically they send out unmanned cargo ships which land and set up a refuelling base as well as leaving a habitation module in Mars orbit.
The crew ship is assembled in orbit from four launches, featuring a long term habitation module, LV-N nuclear thermal drive section and two Orion crew transfer craft. It transfers to Mars, then some crew are ferried across to the orbital habitation module, leaving their ship unmanned.
Crew are ferried down to the surface three at a time, landing at the base and refuelling the ascent/descent module each time (as well as from the ship in orbit after the journey up). Then once their time on the surface is up, the same happens in reverse.
They rejoin the spaceship and leave the ascent/descent module in Mars orbit for another mission, as well as a bunch of contingency equipment, reducing their mass significantly, before transferring back to Earth orbit, using the Orion craft to land home.
In an emergency loss of the ascent/descent module the contingency equipment module can land on Mars and pick up stranded crew and return them to the spaceship, or in the event of a loss of the spaceship, can transfer the Orion capsules back to Earth, although that would be a cramped year.