“Who wants a stylus? You have to get ’em and put ’em away, and you lose ’em. Yuck. Nobody wants a stylus. So let’s not use a stylus. We’re going to use the best pointing device in the world. We’re going to use a pointing device that we’re all born with—born with ten of them. We’re going to use our fingers.”
— Steve Jobs, 2007
(8 years before the introduction of the Apple Pencil)
The Pencil isn’t a stylus. At least not primarily. It’s designed for freehand. This is probably why they insisted on it charging via Lightning by removing its end cap. They didn’t want people getting ideas.
When Steve Jobs said that, he was talking about a stylus as a main or even only input device. And he is still right about it. The Apple Pencil for the iPad never was a main input device but an alternative.