Well then why not choose solid ground somewhere in the boondocks instead of a rolling and pitching barge deck ?
The launch system has to push the payload up to about 25,000 feet per second eastward velocity to reach orbit. The first stage grabs altitude, but also starts that forward velocity, flying basically East to capitalize on Earth's rotation. It looks like the first stage gets up to about 5,500 feet per second at the time it separates. By that time, it's several hundred miles downrange of the launch site.
Now, to land the first stage back on Earth, the booster has to have enough fuel left to cancel that 5,500 fps of velocity (and control its descent, of course). To land back at the launch site, it has to not only cancel the eastward velocity, it has apply some WESTWARD thrust to get back to the launch site....THEN additional thrust to cancel it out. Remember, we're talking rockets, not aircraft. There are no wings to convert speed in one direction to speed in another.
Now SpaceX has demonstrated that. But, fuel-efficiency wise, it makes more sense to just cancel out the eastward velocity, positioning a landing site at a location that would result in the least amount of fuel needed.
But as Phoenix says, the magic will come when they refurbish one of the flight stages and re-use it. Remains to be seen whether land/refurbish is going to be more cost-efficient than a one-shot system. The ideal is the aircraft experience, where you just fill the fuel tanks and go again. Doubt the rocket re-use is going to be that simple.....
Ron Wanttaja