The solar wind interacts with all solar system bodies, inducing different types of dynamics depending on their atmospheric and magnetic environments. We here outline some key open scientific questions related to this interaction, with a focus on the Moon and Mars, that may be addressed by future Mars and Moon missions by the European Space Agency's Human and Robotic Exploration programme. We describe possible studies of plasma interactions with bodies with and without an atmosphere, using multi-point and remote measurements, and energetic particle observations, as well as recommend some actions to take.