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.
The Caloris basin on Mercury.
The Animations Page. Note, SIZES NOT TO SCALE - the asteroids, and also Earth also, are far smaller than they appear to be in this animation. You wouldn't even see the Earth if drawn to scale at this resolution (it would need to be drawn to a resolution of 32,000 pixels to show Earth as a single pixel).