No it won't, there's enough units to not worry about it, and Lightning Network, which likely will be widely adopted by then, allows even smaller units. If more and more coins would be getting lost, it would only mean even faster price growth, because there will be less coins on the market.

For now not a lot of people plan for Bitcoin inheritance because it's still hard to setup, but in the future it will probably become a norm and there will be more tools available.