Miss Steve here:
"customers don't know what they want until we've shown them!"
and Henry Ford:
“if I had asked people what they wanted, they would have said faster horses.”
Yep, I didn't know I wanted plastic antenna lines and a thinner phone with a protruding camera, but Apple magically delivered exactly what I want.
Look, let's snap out of the reality distortion field for a second, we all know what we want, we just don't have the time or resources to create what we want, so when someone else does it, we say ok, and we buy it.
Everyone who follows technology could have said they want a computer in their pocket with an easy to use interface before the iPhone came out. Apple (not Steve Jobs all alone) did it first in a way that was polished and well executed.
If Apple sold the iPhone I described, I bet you it would sell more, but I understand it's a business, and they can't give us everything at once. It's more profitable to give us just enough to upgrade every year so that we get a new iPhone next year.
If the iPhone 6 had 2gb of ram and 12mp 4k camera, the 6S would be tough sell this year. Let's see what they do next year.