Usually, if it's not groundbreaking, Apple doesn't bother. I don't know if Apple will make a TV. But, if it does, it will not be like anything Samsung (or anyone else) makes today. It will be groundbreaking.
It might happen if Apple makes 7" iPads and sells a large number of them. I can see a parallel with MP3 market where iPod plus iPod Nano has pretty much occupied the market, without too much sacrifice in profit margin.