Who lives on Venus, Saturn and other planes?

He explicitly says you can get into contact not only with “beings of the Venus sphere,” but also “human beings that live there,” then gives the Venusians description and the Saturnian giants example (your 30-foot ladder / big toe line).
“For instance, he can learn how to get into contact with beings of the Venus sphere in a simple way; not only with the beings of that sphere, but also with human beings that live there. Once, I was accompanied by this head in the mental body when visiting the planet called Venus and was able to watch the life and doings of the Venusians, who have a light-silvery skin and are much more advanced in their spiritual development than man on earth: they are far more advanced in technology than we are. Due to their technical achievements they are able to leave their planet without effort and visit other planets without hindrance, contrary to man on earth, who has not yet been able to proceed far beyond the stratosphere. In size Venusians are somewhat shorter than we. However, on other planets, for instance on Saturn, there are human beings of the size of giants, so that, taking our measurements, one would have to take a ladder at least 30 feet high in order to get on top of the big toe of a Saturnian.”