Short answer, there is no simple "export to iPhone", but if you just want to have a movie that you can watch on you iPhone, just send yourself an attachment via email (other than .avi) and save it to your phone.
You can also use dropbox as an option.
With an app, you could mount your iPhone as an external drive. (check out iExplorer)
Also: check AME for h264 variations before you send it to yourself. There are presets for iPhone compression.