J-16s and J-10Cs serve a different purpose than J-20 so it's hardly a comparison. J-16s are initially envisioned as a strike fighter to replace JH-7As that evolved into a missile truck that it is today while J-10C is considered a lower end modern multirole fighter to fill up numbers and replace the large amount of 2nd and 3rd generation aircraft. J-20's direct predecessor are the J-11s which stopped production as soon as J-20 was nearing service, ironically both aircraft you mentioned, the J-16 and J-10C both had their maiden flight a few years after J-20.
095 is said and expected to be the direct replacement of the 093 series, not a complement to it.
Actually the relationship between J-20 and J-16 is somewhat similar to 09IIIB and 09V where it counts.
J-16 is not a missile truck strike fighter but rather a high end, heavy multirole fighter.
J-20 of course is somewhat less multirole than J-16 and more oriented towards the air superiority role, but it is still a high end heavy fighter.
More importantly, J-20 was of higher capability but also risk and sophistication than J-16 is, but J-16 was still capable enough that procuring both J-20 and J-16 made sense for the PLAAF while they built up their inventory of more "modern" heavy fighter aircraft.
The same dynamic exists for 09IIIB and 09V, where 09V is of higher capability but also risk and sophistication than 09IIIB, but 09IIIB is still capable enough that procuring both 09V and 09IIIB makes sense while they PLAN builds up their inventory of more "modern" SSNs.
Alternatively, the dynamic is the same between 055 and 052D, where 055 is the equivalent to 09V and 052D is the equivalent to 09IIIB.
Of course, none of these analogies are perfect, but the thrust is that yes, in the long term 09V family will be a wholesale replacement to 09IIIB in production, but in the near term, they will complement each other in production and in service just because 09V is more risky and more sophisticated to 09IIIB to an extent that they will likely want to continue with 09IIIB production (a less risky known quantity which is still capable and relevant for modern uses) alongside 09V production.
Potentially post 2030, 09IIIB production and procurement may cease, and all new SSN production will be 09V family.