I have a personal rule for stocking - if I ask myself if I have enough room, I don't. If I know I have space, then I proceed, but asking the question, especially asking other people, is the answer. I've been on forums and fish talk for a number of years (since the internet had no images) and I don't think I've ever seen anyone ask if they had space where I thought the answer was "yes". You already know. You just want to hear something different, if you're like the rest of us.
That's frustrating because we like fish and want more of them to watch. The 1 inch per gallon rule was a pet shop formula to sell more fish, and we hobbyists jumped all over it because we liked it. It gave us overstocking with a rule to support it. It works for slender bodied fish like neons or zebra danios, popular fish when it was invented. It works less well when fish are also wide and tall - how many inches are there in those fish?
Your Ancistrus will grow, and as a herbivore, it will be a waste producer. It's going to be in constant competition for food with the 3 Otocinclus. That's a larger issue than traditional stocking. You should only have one fish with specialized needs (diet/territory/group numbers) per tank, in something as small as a 20 gallon.
Personally, I'd keep the sterbai and rehome the Otos. The Betta will own the surface and open water, the sterbai would own the bottom reaches and the Ancistrus (or the Otos) would have the glass and decor as their spots.