Earth's ocean basins
Yes, in terms of appearances (as in your question), the Earth's ocean basins have more than likely have been carved with features of some kind or another throughout Earth's history; however, the Martian surface is not featureless - not even close.

The reason being that the geological evidence suggests that plate tectonics has been going on for much of the Earth's history, a mechanism that seems not to be present on Mars - many observations and subsequent models show that the plates have been in motion for much of the history of the planet - resulting in trenches and underwater (and above water) volcanoes (subduction ones), ridges (sea floor spreading). Additionally, hot spot activity has given rise to numerous sea mounts, such as the Emperor-Hawaii seamount chain.  These features often taken millions of years to fully develop.

Even though oceanic crust is recycled through plate tectonics, it could be assumed that these processes have formed similar ocean-floor-scapes on occasions over a long period of the Earth's history.

One of the main differences is that the processes that form these features on Earth have been, overall, semi-continuous on Earth - whereas on Mars, these processes, if started, died out a considerable time ago.