Goods (and services) that are scarce are called economic goods (or simply goods if their scarcity is presumed). Other goods are called free goods if they are desired but in such abundance that they are not scarce, such as air and seawater.
Physical goods are likely to remain inherently scarce by definition. Also some non-physical goods are likely to remain scarce by design, examples include positional goods such as awards generated by honor systems, fame, and membership of elite social groups. These things are said to derive all or most of their value from their scarcity.