Those impacts undoubtedly happened in the past.
Impact from 3.8 billion years ago when large asteroid impacts were still common. 3D map of Mars
The Aitken basin at the lunar South pole. It's believed to be over 3.8 billion years but the exact date is hard to pin down. Impact of an asteroid perhaps 170 km in diameter.And on Mercury we have:
Caloris Basin Mercury, 3.8 to 3.9 billion years old