If you want to declare a JSP in your web.xml file you use the jsp-file tag instead of the servlet-class tag. Normally there is no need to declare a JSP in the web.xml file unless you want to use init-params.
Usually people can access a JSP directly wether it is declared in the web.xml or not. So it is not that the jsp-file tag replaces the url-pattern tag so much as the url-pattern tag is not needed for a JSP. However notthing prevents you from declaring the JSP in the web.xml and then mapping the JSP to a different url that doesn't end in '.jsp'.