Nope they didn't. Apple is still signing iOS 7 and will continue to do so for a long while, probably another 9-10 months. It will most likely also continue to receive point updates for security updates. These two posters are referring to this past summer when Apple stopped signing iOS 6, basically making it mandatory for all eligible devices to upgrade, because iOS 6 wan't going to receive the security update to patch the hole found last summer.
However, this isn't new. All eligible devices had to upgrade to iOS 6, iOS 5, etc as soon as the older versions stopped being signed by Apple.
Even then it wasn't forced, it was just not possible to downgrade back to the previous version. Big difference.
What happens is that all eligible devices will not see the new point updates to iOS 7, they will be fed the iOS 8 updates instead. However, as long as Apple continues to sign iOS 7 releases, it will be possible to restore to that version of the software as a "new" device. There are plenty of guides out there I think.
The thing is, people can't expect to have their cake and eat it too. They want to have all the latest security updates but on an older version of the OS, even though their device is perfectly capable of running the latest one. Apple has generally actively supported 1.75 major versions of iOS at a time, and with that I mean they generally stop supporting the previous release a few months before the future release is launched (i.e. stopped supporting 6 a few months before 8 came out).
The big argument with 7 was the whole new visual look and feel. This time I don't know what the sticking point will be with some people.
In general, 8 is a better and more functional version of 7. It makes perfect sense to wait until the software is a bit more stable with the first point update, and there is no problem with that at all, Apple is not "forcing" anyone at this point.
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Yeah, but it doesn't automatically install it, and you can delete it as well. You can also for the foreseeable future downgrade back if you decide you made the wrong decision in updating. Apple is and will continue to sign and update 7 for another 3 quarters or so.