If BitCoins only ever go out of circulations past 21 million, What do we do when all coins are stored in dormant, idle or otherwise inaccessible wallets ?

Example; Lets say a person has accumulated 10,000 BTC over their lifetime...and then...they die. There computer is formatted and either resold or passed on to a relative. Either way the wallet.dat and the private keys are gone.

Thats 10,000 BTC that will never be circulated again.

It that occurred only 21,000 or so times. That would the whole of BitCoins in circulation would it not ?