In the end, whatever Elon Musk and Donald Trump liked to insist, astronauts Barry “Butch” Wilmore and Sunita Williams were never stuck, nor stranded in space, and definitely not abandoned or marooned.

The world heard on Monday, for the first time since their return to Earth two weeks ago, from the two Nasa astronauts whose 10-day flight to the international space station (ISS) last summer turned into a nine-month odyssey. And their story was markedly at odds with the narrative painted from the White House.

Wilmore and Williams were speaking to reporters at a press conference in Houston, hours after a joint appearance on Fox News, and reaffirmed that they never felt neglected or in need of the rescue the president insisted was necessary.

Instead, they said, they calmly assumed duties as members of the space station crew – “planning for one thing, preparing for another”, Wilmore said – while a political firestorm over their status raged back on the ground.

If anything, the pair of veteran space flyers appeared slightly bemused by, or largely ignorant of the furore that followed their enforced and protracted stay on the orbiting outpost 250 miles above Earth, caused by technical failures on board their pioneering Boeing Starliner spacecraft that returned in September without them.

At the press conference Nasa had called to discuss the science activities the astronauts performed during their time in space, Williams and Wilmore gave diplomatic answers to questions designed to elicit their thoughts.

“The stuck and marooned narrative … yes, we heard about that,” Wilmore said, before reverting to a carefully worded explanation of how their training and preparations allowed them to pivot seamlessly from the roles of new spacecraft test pilots to routine ISS crew members who splashed down in the Gulf of Mexico on 18 March on a routine crew rotation flight.

“The plan went way off for what we had planned. But because we’re in human spaceflight, we prepare for any number of