Well, there's a huge middle ground between "not present in any form" and "pandemic". Indeed, the vast majority of infectious diseases are somewhere in this middle ground, e.g. influenza, hepatitis, various sexually transmitted infections: people regularly get infected, and there may be significant morbidity and mortality, but not at a level where the normal functioning of society is seriously impacted. So both statements are consistent with a prediction that coronavirus will get to that point.
The only way for coronavirus to not be "present in some form or another" is for it to be eradicated worldwide. So far in human history, this has only been successfully accomplished for one widespread human infectious disease, namely smallpox. According to the World Health Organization, this effort was considered complete in 1980; it made use of highly effective vaccines and still took some 20 years. (Indeed, various forms of vaccination for smallpox had been in use for some 200 years previously!) The Wikipedia page linked above lists a few other disease eradication efforts; most have been in progress for decades and are not yet complete.
So if these are any indication, even after highly effective coronavirus vaccines are available (which currently has not been established), and even if the worldwide community does dedicate itself to an eradication effort, and even if this effort is as successful as the most successful such effort to date, it would still likely take decades to complete. It is also possible, if and when coronavirus infections are reduced to a sub-pandemic level, that governments and health organizations will decide that the level is "acceptable" and that full eradication is not worth the effort and expense.