That feels like semantics. If you're invading, you have to leverage the population from somewhere. If you want an actual statistic, it's been estimated that across human history (or at least what we call recorded history), about 90% of the world population has lived under some kind of empire. And empires usually spread through force. Statistically speaking, as of the mid 20th century, we're actually living in one of the most peaceful periods in human history, in part due to nuclear deterrance, in part due to how integrated the world economy is.
I'll grant you the former, not so much the latter. Just a cursory glance at the list alone shows no shortage of invasions on other continents. And if it's leaving out European invasion of the Americas, it's also leaving out the rise and fall of empires in South America, plus warfare even earlier than 500BCE - Egypt, Messopotemia, etc.
Maybe Europe's 'out-conquered' the rest of the world, but that's a state of affairs that's been true only of the last 500 years. Go back a 700 years, and the Mongols were out-conquering everyone. Go back another 300-500 years, and Arabs were out-conquering everyone. I'd make a comment about going ahead another few hundred years, but assuming that the political balance of the world remains the same, then invasions don't look likely, in part due to the reasons I described above.