I don't think we need better codecs, video resolution increases slower than hardware and networking speeds. So, complete stagnation is viable.
Besides, for a company like Netflix or Youtube, shaving 5% off the file size without a drop in quality can literally mean millions of dollars saved per year.
If you consider compression from an information theory point of view, for any given measure of "quality" there is theoretically a limit to compression. It's not clear where the limit is, or how close we are to it, but because it does exist stagnation is inevitable eventually.
As it gets harder to make gains it will become less of a business proposition and more of a research/academic thing.