Echoing this with a Note4, I get updates from Samsung almost every month (bi-monthly for the most part). Runs brilliantly.
For comparison, my iPhone 5s (that I recently replaced) from 2013, received iOS 10 and was still butter-smooth [1]. It will most likely also get iOS 11 this year.
tl;dr: you should expect/demand more from a device that almost costs a grand.
[1] I replaced it because I wanted more storage and live photos.