Yes, you have to expect the future (or even better if your manager/boss already has expectations you can adopt to begin with) and then choose the right way to tackle the changes required. That's why I laid out 3 possible cases the last of which points out that I prefer to refactor primarily when there's a lot of work incoming on the codebase.
Personally, I don't see much value in refactoring code significantly if you alone are going to be editing it because refactoring for ease of editing + the cost of editing in the refactored codebase is often less than just eating the higher cost of editing in the pre-refactored codebase and you don't reap the scaling benefits of refactoring as much. However, like I mentioned in the above paragraph, it depends.
In the end it's all about managing the debt to get the most out of it in a _relatively_ fixed time period.