If I recall, I heard someone stating that the Star Fox Team was about working together protecting the galaxy. According to Falco's attitude he does not fit the bill.
Goomba is nothing more than Cannon Fodder though, that is the entire point. That is like trying to get the typical Star Fox robotic enemies to be playable. To even suggest the Goomba as part of your argument makes no sense, because Plot character > common enemy.
Response to bold: You just said it yourself why Lucina is more important to her own franchise than Falco is to his own.
This is up for speculation, but I bet, that if Falco was never in Super Smash Brothers, he would never have the fan following he has today.
A character with an incorrect attitude to be in a team is nothing new or even rare. For example Fox = Sonic, Slippy = Tails, Falco = Knuckles. Knuckles is another character that does not fit in a team despite being in several titles forming team with Sonic.
My point is that the role of a character is not connected to being more or less Iconic, Falco has a less important Role, yet he is more iconic than Lucina. Goomba has less important role than both, yet he is more Iconic than both.
Fire Emblem Awakening characters have tha advantage of the recent glory, that is indeed going to make those climb several positions in relevancy. But Falco still being out of range from those. Specially after all those all years of Falco in smash.
And im agree with you in that last statment, SSB clearly boosted Falco. Anyway, i ask you, why you root against Falco this much? Im not even a Star Fox deep follower and i find it annoying.
He is a secondary character of a good series that appeared as a playable character in a crossover game and gained popularity for that, is that a crime for you or something?
Also all those "role" thing is dumb, and not really THAT important in smash, look:
There are some characters inside Mario franchise with more playable appearances and more relevant roles than Rosalina.
Do you think that Greninja, Jigglypuff, Charizard, Greninja or Lucario had a more important role inside the Pokemon franchise than Mewtwo? (perhaps charizard really does)
Better question, do you think that Any Pokemon in Smash has more relevancy that Pokemon Trainer in any Pokemon game in therms of role?