If the planet is 20 light years away, you're saying we
could reach it in less than a year if we attain a velocity
of 0.9999c?
Yes. In the reference frame of the traveler, very little time passes. However, when he returns, people on earth will have aged more than 40 years.This is also why particles traveling at c cannot possibly decay: no time passes for them. A photon is everywhere at once, from its own point if view.