Aircraft are normally painted with colorful livery---swoops, checkers, etc.

Has this ever been done on a rocket?

I can imagine the motivation hasn't been there because rockets are out of sight within seconds after launch, and they haven't been recoverable.

But now rocket launches are becoming popular. We follow them on YouTube and watch whole launches. And the rockets are recoverable. They come back to eventually launch again, even if covered in soot from head to toe.

So whatever drives airlines to color their aircraft with livery... it seems could drive rocket launchers, also? The audience is there, so it seems a Musk or Bezos could well use the opportunity to move them with inspiring or playful livery?

I mean, Musk bends over backward to get public support for his businesses---be it space exploration, or electric cars, or boring tunnels. It seems rocket livery would help with that. So why haven't we seen aircraft livery on rockets yet?

I'm not counting the tiny, minuscule logos as livery, and I'm ignoring the large SpaceX and NASA logos as well. I'm asking specifically about the artistic, wild, playful color schemes that airlines like JetBlue cover their jets in.