The lost bitcoins would be so negligible, even now it is definitely negligible.
Since bitcoins go up to 21000000 in integers, that's quite good. It also goes in the decimal places as well.
If .00000001 BTC became worth $1 in the future if it were globally adopted by many people, then you could easily revise the client to handle that in integers instead, and "move" the decimal place out.
Realistically, we can represent 2,100,000,000,000,000 units.
The amount of lost coins is probably very small, and you could just possibly add more decimal places in the future to bitcoin to accomodate rising deflation, which would make bitcoin theoretically infinite despite the "finite" 21,000,000 coins.
This is also a reason why introducing endless inflation would be such a bad idea.
I wouldn't say the amount of lost coins is going to be negligible or small over time.
Just imagine 1 million Satoshi's coins (which AFAIK haven't moved yet) would be considered lost at some point. That's 5% of the whole Bitcoin economy no matter how much further you divide the units. Another half a million belongs to a dozen of other guys who jumped in early.
So this problem will have to be solved in the future, but we should also take into account how and when the original Bitcoin idea was introduced into our society. Having a limited amount of coins is very easy to explain to people tired of endless and unsustainable inflation carried out by their governments. People wanted a return to the Gold Standard and having a limited amount of coins is an easy sell. So I guess it was more important to get people attracted to a whole concept of P2P currency where they essentially control the rules of money generation and then later people themselves will decide what inflation rate and policy is best for them.
PS: Regarding Satoshi coins and another half-a-mil, I really believe that people who invented Bitcoin to save us from the current system will spend their millions of bitcoins for the betterment of humanity and peace on Earth
PPS: I do not support original idea of wallet heartbeats. I'd love to live in a remote village for 10 years and be sure that my coins are safe when I return back to civilization.