I'm not sure about Java and Javascript, but I think they were developed before it became clear to most people that UCS-2 was not going to be enough (which was around, or likely even sometime after the time that UTF-16 was published in 1996).
Windows NT, Java and Javascript became popular, and none of them could easily change the width of their standard character encoding, which was also used internally in all of their code.
The goal of UTF-8 was to have an 8-bit encoding compatible with ASCII; that it could also encode more than 65.536 code points was more like a lucky accident. Maybe there was already talk about the need to extend Unicode beyond 2^16 code points, but nothing had been standardized at that time.