As bitcoin becomes more mainstream, is it reasonable to expect that more and more bitcoins will be lost?
No, it's the opposite, less coins will be lost, because they are more distributed and more precious. In the past, people didn't care about their thousands of Bitcoins, because they were worth a few dollars, so they easily lost them. Nowadays, people take great caution, so the probability that a whale would lose their coins is much smaller. The funds that are more at risk are probably some dust, or a few mBTC.
And that even one day, all of bitcoin may be lost?
A simple logic tells that as time moves to infinity, and every coin has a chance to be lost, all coins will be lost at some point. On practice, such process would take millions of years, which is longer than Bitcoin or the human civilization will exist.