The opted for human-servicing missions because 1) the Hubble was designed with human-servicing in mind, and 2) no robotic mission (circa early 90s), teleoperated, could have accomplished what the human astronauts could do. Furthermore, the human missions went further: repairing and replacing components that
weren't designed to ever be serviced in space. There were all manner of hiccups on all of the servicing missions that required human proprioception (i.e., "this feels rough", even through space suit gloves) and realtime on-the-fly judgment to overcome.
After the
Columbia disaster, NASA looked at robotic servicing Hubble,
decided it was infeasible at any reasonable cost or timeline, and opted for a final human servicing mission. On that mission, they added a
docking ring, so that it'd be easier to dock a robotic spacecraft in the future: most likely for de-orbiting, but potentially for orbit-boosting or even robotic servicing. There are no serious plans to do the latter as far as I'm aware.