Forgive me if I depart a moment from the explicit and literal, but I fail to see how you can apply ideas from music, poetry, zoology, art, and history without "doing something totally new with it." Did 19th century bookmakers and typesetters have the faintest idea what a computer was when they were practicing their craft? And would somebody making a computer screen without the slightest notion of what really went into calligraphy know which ideas to capture in writing rendering software? This is the essence of what Jobs meant by stealing. It wasn't, hey, let's just copy our competitor but make it cheaper.
As for "stealing," it's unfortunate word choice because the original quote from Picasso was in Spanish and he didn't say it in a trade (high art) where copying could be justified as "natural evolution."