Of course we do. All the Apostles had successors, not just Judas. The writings of Fathers, Doctors, and all historians are unanimous in this regard. You would dismiss such history as bunk?
There were other elders/overseers/bishops that flowed from the growth of the new church ..but there is no mention of other apostles being selected to replace the original apostles.
This raises an interesting question.. Christ choose 12 Apostles.. so how many successors are there now? As they "lay hands" on their successors ...do they pass the ability to handle snakes? Heal the sick? Preform miracles? ..where do we find the list of transferable apostolic gifts?