I think with enough space to evade each other they should be ok. I've seen plenty of people mix similar size ecsenius with little trouble and I don't believe stigmatura are any more aggressive.
The ones I tried to pair were initially in 1ft cubes (connected system) for qt and they showed no signs of aggression for the 8 weeks they were there. It could be the old "no real territory" to defend situation but if I had to try again with these I think I would first use a smallish tank with multiple pipes instead of a more natural situation. My thinking is that they could then evade each other if need be but still be stimulated by each others presence, in an environment that's less likely to cause territorial squabbles.
barnacle clusters are also a great idea. I've used them many times for moving blennies about as they are easy to just pick out and keep the water in, and they love them. It's always good to have an easy way to remove a fish should the need arise.