There are competitors, but none of them have delivered yet. Then again, SpaceX didn't really deliver until this year when it docked with ISS.

Blue Origin is doing things, but I'm not sure it's not just a vanity project for Bezos. XCOR is working on some subsystems that are probably transplantable across different vendors. Bigelow seems to be working on payloads. Scaled Composites is trying something quite different from SpaceX and it remains to be seen which way is better (if there's even such a single answer to that).

There are even smaller places like Armadillo, but it may be not meant to compete. I'm reading a lot in here, but I think Carmack sees it as an incubator for new space talent.