I don't think so. Steve is pretty clear in his books and videos and what-not that the goal is to A. understand customer problems and pain-point, and B. find out if the product you are proposing to build (based on those pain points) has a viable market or not.

So no, he isn't saying "ask customers what they want" in the "a faster horse" sense. He's advocating for talking to customers, engaging with them, finding out what their needs are, demonstrating your proposed product to them, and determining if there is a market for "thing I propose to build" before spending a tremendous amount of time and money developing, advertising, and promoting "thing I propose to build."

Or at least that's what I've always gotten from his materials, and it seems like a pretty clear message to me.