A device will only draw the amperage which it can use, in which case is 2.1A for the iPhone 7 and is fully supported. It'll take roughly half the time to charge using the iPad charger (or any 2A USB output, like your Samsung charger).
The iPhone ships with a 1A charger, whereas the iPad ships with a 2.1A charger. I believe the iPhone 6 was the first phone to fully support 2A charging, as many iPad owners were charging using their iPad chargers.
As an aside, the iPhone 8/X can fast charge using USB-PD using a current gen MacBook charger, where it'll charge about 50% in 30 mins.