Much mention is made of the three companies that continue to receive NASA CCDev funding, and little is made of those companies that are doing as you suggest.

Blue Origin continues development of its New Shepard spacecraft despite no longer receiving NASA funds.

Pzatchok, below, is correct. One company (or maybe two) will end up with a NASA contract to taxi astronauts to the ISS for half a dozen-ish flights.

Those not in the running – those doing as you suggest – will have to rely upon flights to other destinations, such as Bigelow inflatable space habitats.

SNC is interesting in that they have been quietly building up a lot of expertise and cash flow. Wholly owned by the couple who bought them in ’91, no debts, about $3B a year in sales, and building up. I know a couple big announcements in the pipeline, and wouldn’t be surprised if they are building up toward a full up RLV not to long from now. Given they don’t have to answer to stockholders, they could go ahead and do it, where a Boeing, McDonnell Douglas, Lockheed/Martin couldn’t get it past stockholders who really are just pension fund managers. And they have more expertise and internal funds/capital then Musk had, and not the crippling ego unwilling/able to work with others. (SNC is happily teamed with both Boeing and L/M on Dream Chaser, even though they compete with both.)

What they like about a contract with NASA are the guaranteed launches. Its guaranteed work with prearranged payments.
Contracts are something they can use as collateral to gain more investments.