Final answer:
David Livingstone is the famous explorer who introduced the interior of Africa to the gospel message, pioneering Christian missionary expeditions deep into the continent.
Step-by-step explanation:
The famous explorer who opened the interior of Africa to the gospel message is David Livingstone. He was a missionary and explorer who was renowned for his expeditions in Africa. Livingstone's desire to expand Christian missionary efforts drove him to explore the African continent, beyond the coastal regions dominated by European countries. His journeys helped to provide a clearer understanding of Africa's geography to the outside world and spurred further expeditions into the continent.
About the information provided, it is important to note that the first explorer to reach Brazil and claim it for the throne of Portugal was Pedro Cabral. This is a distinct historical event, separate from Livingstone's explorations in Africa. Nonetheless, it underscores the European Age of discovery and the various explorative efforts that had significant impacts on different regions of the world.