We believe it. These phones are designed months -- if not years -- in advance, and the actual process from concept to shipping takes a relative eternity. Furthermore, the original source (linked in More Coverage) only tied the quotes from Sammy's Shin Jong-kyun loosely to the Galaxy Nexus, and we're guessing that Samsung takes a look at all potential legal implications before shipping any product. In other words, the company's probably doing everything it can -- including paying Microsoft for every single Android device sold -- to avoid these nasty legal battles, but the Galaxy Nexus wasn't engineered just to sidestep another fight with the lawyers in Cupertino. And now you know.
Update: In response to a question from Joanna Stern regarding Samsung's rethinking of hardware and software (mainly TouchWiz) in order to lessen its chances of being sued in the future, Dr. Hong did muster a very vague affirmation that a newer build of TouchWiz will eventually surface, and that it'll almost certainly be tweaked in a way that'll cause Apple's lawyers to salivate less.