Yes, because while other phone makers have been making money hand-over-fist, Apple have been stuck on the poverty line, struggling to scrape together the odd billion for an acquisition while their executives don't know where their next share option package is coming from. I'm sure that the gold level in their Scrooge McDuck swimming pools is a good eighth-inch lower than it should have been without all of this copying. I cry bitter, salty tears for them while they play the thinnest, lightest violins on the market.
There may have been cases in the past where true innovators have failed to profit from their work because of copycats, but Apple certainly isn't one of them - the iPhone has given them a license to print money.
I don't forgive Samsung the iPhone-wannabe design of the early Galaxy phones and tabs (nor the far more blatent fake iPhones being churned out by less reputable makers, which might have been what Ives was talking about) or the Fandroids who try and insist that you can't make a phone without making it the exact shape of an iPhone or that the development of Android didn't take a U-turn away from blackberry-a-like when the iPhone was announced. However, if anything, Samsung only started to eat into Apple's profits when they stopped making iPhone clones and started offering things that Apple didn't, like larger screens, styluses, curved displays, better batteries, SD card slots... The Note 7 looked nothing like an iPhone, offered a load of features that the iPhone 7 lacked and would have legitimately taken a bite out of the ~meh iPhone 7's sales if it hadn't been for that one teeny weeny problem... and Apple would be hugely complacent to think that couldn't have happened to them.
I've got Macs, and an iPad Pro so I'm hardly an Apple hater, but I bought a Note 2 years ago not because it looked a bit like a stretched iPhone Mk1 but because the iPhone 5 had just come out and left me completely cold - I didn't like the small, narrow screen and Apple had just dropped the ball by forcing a half-finished Maps app downgrade onto everybody because of what Google told our Sandra about Tim's mum. The "phablet" idea was a game-changer, and Apple were a couple of years behind the pack on that one.