those are all the same problems that any large network has with multiple end users, they didnt break the VPN to get access to the network.. they compromised a machine that got into the network with VPN.. no different than compromising a machine already on the network, except once most people take a computer home they loose any protections on the main network, like firewalls and network scanners and become an easier attack vector.. If a remote user logs into any corporate service (email, document sharing, xerox copy machines) with an infected keylogger your fucked, those same authentication credentials are valid everywhere on the network.. but this is why 2-factor authentication exists, and does a damn good job at taking care of most of those issues.. and you bet thats what Target and USPS are all moving towards, they took a huge gamble having that number of users and devices without implementing a 2-factor auth system, and lost.
The only possible way your scenario makes any sense is that whatever device your using to remote into your network will never under any circumstances be plugged into your network normally (say a work provided desktop computer), then the VPN does expose your home network in a way that it wouldn't normally be exposed, might consider putting a firewall up between your VPN and LAN if this is a problem... However if your like most of us here and accessing your cameras from a device that is normally at home on your LAN then you are not exposing your network to any devices its not normally exposed to, so any malicious software running on said devices are getting access one way or another.
If your running a large corporate network with hundreds/thousands of end users I dont think your coming to these forums for network security advice..
But what do I know; I dont maintain corporate network security for tens of thousands of employees, most of them teleworkers like my self over VPN connections, for one of the largest networking companies out there... oah wait.. nm I do and your right, its horribly complex and really easy to get it wrong... but nobody here is talking about networks of this scale or type..
My advice is for DIY IPCamera community, which is typically 1 large subnet, 1 or two main users and a very limited number of devices that normally have nothing protecting them from eachother.. if your running anything more complicated than a basic small LAN then your absolutely right... there is much much more to consider than my blanket statements on basic security.