I am not really sure if this what the OP is looking for but i guess that a closely relevant notion here is that of connected Hopf algebras (i.e HAs which are connected as coalgebras). These are Hopf algebras which have no simple subcoalgebras other than $k\cdot 1_H$.
Let me attempt to explain that: The definition of pointed HAs can be stated equivalently as: HAs for which all simple subcoalgebras are 1-dim. This is due to the following well-known fact:
There is a 1-1 correspondence between the set of isomorphism classes of simple right $H$-comodules and the set of simple subcoalgebras of $H$.
(See: Indecomposable coalgebras, simple comodules, and pointed Hopf algebras, S. Montgomery, Proc. Amer. Math. Soc. 123 (1995), 2343-2351)
So, if you have a unique one-dimensional comodule (the trivial one) then under the above correspondence the unique subcoalgebra is $k\cdot 1_H$. But this is the definition of the connected HAs (Connected coalgebras essentially are: pointed, irreducible coalgebras. At the level of HAs, connected HAs are the same thing as irreducible HAs. Universal enveloping algebras and most of their deformations are examples of connected HAs).
Edit: At a second read, and taking into account the way the OP is stated, maybe the notion of connected is more restrictive than desired: in the sense that for connected HAs, the trivial one-dim comodule is the unique simple comodule; while the OP asks for it to be the unique 1-dim comodule (leaving thus open the possibility that higher dim simple comodules may exist). But if this is the intention of the OP then i do not think -modulo my knowledge of course- that such a characterization exists.