Sometime around 2014-15 when Ventra was rolling out in Chicago, I was intrigued by the "contactless" thing it was advertising. Some copy on Citi's website indicated there might be a contactless version of my card. Customer service had no idea what I was talking about. After a while on hold, I learned that there had been a contactless version, but it was retracted.
In the US market, Apple Pay came on the scene way bigger and way earlier than anything else. The traditional issuers weren't interested. So of course Apple gets the credit: it was the one to actually field the technology.
Samsung Pay is different. It works with swipe terminals too, by generating a magnetic field that imitates a magstripe card. A few years ago this was a big deal: NFC acceptance was pretty much only at hipster coffee shops and food trucks with Square readers, where the clientele all had iPhones anyway. Not so much now that most terminals upgraded to comply with the EMV mandate also have NFC.