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You cannot connect your Canon EOS camera to the iCloud. Some Nikon cameras have a wireless capability that I know of (if not other camera brands) that allow direct connection to handheld devices of some sorts by some means... but I am not aware of any means of doing this sort of thing with a Canon EOS camera.
There is an app (Canon EOS Remote) that allows remote control (and picture reception etc.) onto an iPhone or iPad or Android phone, from a Canon EOS 6D... but that won't work with your model.
The nearest thing I can think of that might do, is getting a wireless adapater for your EOS camera, and using that to connect to the iPhone... perhaps. It might not work.
Basically, you use a memory card, or you use a computer, to get photos from this sort of EOS camera to an iPhone. Other ways aren't really possible nor supported.http://www.eyefi.com/
is a means of doing what you ask about, but it is a memory card of sorts, so perhaps you're not open to that means of doing what you ask about. It's a wireless SD card, that you put in your camera. You install an app on your iPhone. Then you can transfer photos from the camera to your iPhone.