The spot on one of the most popular podcasts in the US marks Musk's first appearance in a public forum since he stunned the financial world last month with his short-lived effort to take Tesla private.
Elon Musk has added another bit of freaky behaviour to the list by smoking a joint during a live interview.
The blunt usage began near the end of the interview when Rogan produced it and Musk responded by asking, "I mean, it's legal, right?" Rogan passes the joint to Musk, who also takes a sip of whiskey.
The billionaire spent two and a half hours on a podcast discussing everything from artificial intelligence and its impact on humankind to flamethrowers and social media.
Mr Morton, who joined Tesla on 6 August, resigned on 4 September.
"I don't think you would necessarily want to be me; you wouldn't like it that much", Musk quipped. The show took place in California, where recreational marijuana consumption is legal. Last month, Tesla's founder tweeted about plans to take the company private. He was honest, possibly drunk and stoned: "I think people should be nicer to each other ..."
"It's like a cup of coffee in reverse", he added.
In a remarkable coincidence, Musk's appearance was followed nearly immediately by news that two of Tesla's top execs are stepping down.
Musk later brightened and said, "This may sound corny, but love is the answer".
According to the lawsuit, filed on Thursday in San Francisco federal court, false and misleading information, issued by Musk, harmed short-sellers and those believing Tesla's stock price would rise.
"I have a lot on my plate", Musk said.
"If we were forever constrained to Earth, that would not be a good future".
Musk touched on the difficulties of having the kind of brain that has enabled him to build and run multiple high-tech companies at the same time.
"If you get one of those toy drones and imagine it's 1,000 times heavier - that's not going to make your neighbors happy", he explained.