Hi Aaron,
Here's what I did to update my project after getting the latest cordova and ionic installed:
cd [my projects directory]
cordova platform update ios
cordova platform update android
ionic lib update
(for ionic lib update I think you need bower installed: sudo npm install -g bower)
Then make sure ios-deploy at 1.4.0:
sudo npm install -g ios-deploy
It could also be due to your code signing setup on your project. In order to deploy to a device, even for development, you'll need to have configured a provisioning profile with a valid signing identity. I find the easiest way to configure this is to just go into Xcode and select them under Build Settings of your Target.