Luckily,
you can write in C# and deploy to iOS. That's how JRemote was written, in fact. And, yes, C# and Java are similar. You could call (and many have) C# "Microsoft's Java".
To answer your original question, there is no way to run Java code directly on an iOS device. There may be some Xamarin-like bridge project for it, but I don't know of one.
C# could be a very good target if you would
really prefer it. But I might consider not doing it. First off, you have to learn a new language anyway. Once you understand programming fundamentals, learning new language itself is really a fairly minor part of learning to code for any platform. Learning the API is a much larger task, and that ends up being required no matter how "wrapped" of a bridge system you use. Plus, by using a "bridge", you're adding yet another external dependency (Xamarin). You just learned external dependencies can be
challenging from having the legs pulled out from under you. Right?
Generally, unless you have a strong cross-platform requirement for the project, you'll have the best results if you develop directly for the intended platform. Any "time savings" you might accrue from avoiding building competency in another language are very likely to be offset by support concerns, long-term, even if the "bridge" you choose lasts (and continues to be updated)
forever.
Oh, and this is minor, but... Jobs was referring to client-side applications targeting
the Browser plugin in that quote (
the context of the question was about Flash and Java plugins for the browser). I don't think many informed people would argue by 2007 that the Java browser plugin
wasn't extremely troublesome, if not a disaster.
He also said, when he gave a Keynote address at the JavaOne conference:
We want to bring Java back to the desktop in a really big way. I am here today to personally tell you we are working hard to make Mac the best Java delivery vehicle on the planet. The biggest thing we are doing is we are going to bundle Java 2 SE into every single copy of Mac OS X that we ship later on this year.