Did Hitler really hate Jews?

From what I know about World War II, Hitler wanted space to create his "master-race" of Aryans. Originally, all he wanted to do was to expel all non-Aryans from Europe. But faced with the monumental effort to do this, Adolf Eichmann decided to kill non-Aryans instead. Is this true? If so, did Hitler really hate Jews and non-Aryans or did he just think they were inferior? If it isn't true, could you tell me the actual story?