In which case, they're not something SpaceX has shyed away from; they are indeed not used on the Falcon, but hypergols will power the SuperDraco engines on the Dragon 2.
When you need storable propellants (either for a launch escape system that needs to be ready to go at any time, or for ICBMs that can be kept in a launch-ready state), and a solid rocket won't do for whatever reason, there's just nothing else that will do the job.