Left join including nulls
if table has no record match from table 1 will be automatically should be null 


SELECT j.judge_name, 
       s.score 
FROM tbl_judges j 
LEFT JOIN tbl_scoring s 
       ON j.id = s.jud_id 
      AND s.crit_id = 1 
      AND s.can_id = 11



  or much better for default score of 87


SELECT j.judge_name, 
       COALESCE(s.score, 87) score
FROM tbl_judges j 
LEFT JOIN tbl_scoring s 
       ON j.id = s.jud_id 
      AND s.crit_id = 1 
      AND s.can_id = 11