No, you don't recall correctly. iOS has had the ability to update via iTunes since it's very first release in 2007. iOS users have been able to update their devices regularly to the latest and the greatest without problems for many years, while on Android it's the exception rather than the rule.

This includes iOS 7, which like previous and later releases works across a variety of new and older devices.

The only thing controversial about iOS 7 was the UI was "flatter" and more colorful which some people didm't like.