This would be best answered at www.jpl.nasa.gov
JPL has not communicated with Pathfinder since it went silent in 1997, so there are no plans. The Insight lander and Curiosity rover are currently operating on Mars. A rover that's visually similar to Curiosity will launch in 2020 to look for signs of ancient life and collect soil/rock samples. A future mission will return the samples. Lander and rovers on Mars do use science satellites orbiting Mars, like the Mars Reconnaisance Orbiter, to relay information back to Earth. Since an orbiter does not need to land on Mars, it can carry a much larger radio antenna than a rover for faster communication.
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