The capacitor ios guide has commands for cordova and capacitor all the way down to “Running with the Ionic CLI” where there is just a cordova command.
How do we launch a live-reload server with capacitor?
It seems that ionic capacitor run ios -l works - should that be part of the guide?
Yes, it should be 
. Added it here.
Note that for Ionic CLI v5.0 (latest version as of June 2019), the command is:
ionic capacitor run ios -l --address=0.0.0.0