I agree on this. Android is much more "open" out of the box than ios. I'm not trying to start anything here, but a jailbroken iphone can do just as much as a rooted android (which can do more than stock android). Aside from installing a custom ROM, there isn't much more you can do on android than ios.
To the OP, I say try jailbreaking if you're looking for more from your iphone. You've already got the hardware, so give it a shot. Its simple to do, and fully reversible.
I would agree that a jail broken iPhone can probably do as much as an Android. But the key difference, IMO, is that as Apple plugs the holes with every iOS iteration, the wait for a jailbreak gets longer and longer. With every new iOS release, it becomes a case of living with iOS's limitations till a jailbreak is hopefully found.