Apple says the Apple Pencil is not meant to replace your finger
In a chat with design journal Wallpaper, Ive said that it might be easy to confuse the role of the two. But, in Apple's mind at least, the two serve a very different purpose.
He said, "I actually think it's very clear the Pencil is for making marks, and the finger is a fundamental point of interface for everything within the operating system." If you enjoy painting or drawing, Ive added, the Pencil is better suited for the task.