You can see both Venus and Jupiter, as well as several of the brighter stars, with the naked eye in broad daylight if you know EXACTLY where to look. The problem isn't that they are dim but that your eye can't focus without something to refer to. By that I mean that you can be looking right at Jupiter at noon but, with nothing around it, your eye won't automatically focus to infinity and it'll be to out of focus to see.
Years ago someone showed me a cool trick where he centered Vega in his 4 inch refractor in the middle of the afternoon and, of course, you could see it great through the eyepiece. Then he showed me that you could sight up the side of the telescope tube with the naked eye and, since you knew it was right there, you could focus on it and see it plainly in broad daylight! But if I stepped away from the scope I couldn't find it at all.
Another chance is when they are very close to the Moon, and here's a shot of Venus I took at 2:00 in the afternoon. I don't remember the lens but I think is was the 105 mm L. I'm sure it wasn't a telescope. I blew Venus up to 100% crop for the inset and you can see the phase.
Mars and Saturn would probably be a real challenge and I don't think you'd get much detail even through a scope. They are just too dim. But it might be worth trying. I've shot the moon in the middle of the day and, with some processing, it looks pretty much like a night shot.
Anyway, interesting topic.
