Yes I believe there is life on other planets, yes I believe there is intelligent life.
Considering that the building blocks for life here on earth are essentially a mix of space dust that collected on a rock, it has to have collected on other rocks. Probably on Mars as well until it's magnetic field failed and solar radiation scoured it.
Considering the age of the universe, the time it takes for life to develop and evolve (very quickly on a cosmic scale) and the size of the universe and billions of galaxies made up of billions of billions of planets, entire civilizations on other worlds have likely evolved and died out before the earth was even formed.
The sad part is, if something similar to the SETI program ever gets a signal, it will probably be from one of these. Someone long dead in a place where there are only bones and dust to hear our reply.
i.e. when we call back to ask: Do you have oil on your world and are you bullet proof?"
EDIT: I doubt that aliens have visited our planet, but I don't think it's impossible. Think of it like this: We have large numbers of scientists scanning the heavens for planets potentially capable of supporting life. What keeps another civilization from doing the same? If we had interstellar capability, those would be the first planets we would head for. Likely another civilization would feel the same way. That and a planet that does support life in a sea of ones that don't would attract a LOT of attention. Landmasses and liquid water? None of the others we have seen look even remotely like ours.