I don't know why some people keep insisting on comparing older and/or less expensive phones to iPhone/iOS. If you take the best of the current generation flagships from the top three platforms, Android, iOS, and Windows Phone (can't speak about Blackberry since I don't own one), there is little appreciable difference in responsiveness for normal users, though there are cases for all three where you can get them to lag, hitch, freeze up, etc depending on the situation, and on paper or in benchmarks I'm sure you can find differences.
To answer the title question, "Will android ever be as responsive as iOS?", I think the answer is "yes", or "close enough as to make no difference", considering what the current situation is. If you are extremely sensitive or focusing intently on just touchscreen responsiveness and ignoring other UI elements then maybe iOS takes the crown (I'd argue Windows Phone does) but the reality is none of these operating systems are flawless, but they are good enough for most consumers at the high end.
Apple doesn't make inexpensive phones (the fact that the cheapest current iPhone is still in Nexus 5 territory should give you some clue) so it's only fair to compare similarly priced phones at the top end. It's not fair to penalize other manufacturers for giving you choice.
I look forward to seeing the crop of phones arriving this fall. iPhone 6, One M8 Prime, Galaxy S5 Prime, Lumia "McLaren", and whatever else is in the pipeline from the other manufacturers should make things interesting.