how can I make this layout be always 100%, stick to the bottom and not beyond so no scrollbars are needed?

Whatever I do I get some extra space on the bottom.
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You are correct in thinking that
overflow:hiddenwill hide some of your content. The scroll bars are appearing because of your height/padding figures:.colmaskyou have setheight:100%. This is relative to the body.#headeryou have setpadding-bottom:16px.This means the full height of your page is 100% + 16px.
Option 1:
If you want your page to have no scrollbars and always show the bottom of the content you need to change your height/padding figures so that they add up to 100%.
Example: http://jsfiddle.net/HsPtp/12/
Option 2:
As long as you know there isn’t going to be any other content other than the footer right down at the bottom you can do this: http://jsfiddle.net/HsPtp/6/
This essentially will cut off the extra 16px from the
#headerat the bottom, and then remove#footerfrom the flow of page and fix it at the bottom. So technically there will be 36px (16px#headerpadding + 20px#footerheight) at the bottom of your page that will be cut off and covered by the footer.