Nope. Bank is there because it is a bank and Bitcoin is there because is it a bitcoin. One may exist without the replacement of the other. As you have said, banks have existed for centuries and the creation of bitcoin does not even affect the banks that greatly because most banks are controlled by the government. Therefore, in my opinion, bitcoin may never replace banks, because they can coexist.
I think there is no comparison between banks and bitcoin because we cannot keep aside the role of banks. They are giving us many services, while bitcoin is just a cryptocurrency, usable and profitable and can do nothing else. I am not saying that bitcoin is not good but both have their respective features, and we cannot neglect anyone in these two.