Ultimately, it depends on the type of critter/NPC in question.
The majority of the Mojave's wildlife, and random NPC faction dudes/dudettes, will show up again in due time (though not always at the same spot, and not always being the same type of character).
That said, there are some very unique denizens of the Wasteland, out there, that will stay dead for good - provided someone manages to vanquish them.

O.