Is it OK to charge my iPhone with my iPad charger?
Your assumption is correct. Your iPhone has an intelligent charge controller on-board and this controller will only draw as much as it needs. 

Sure, the iPad power supply can supply twice as much power as the iPhone needs, but it should not be dangerous by any means.

I don't know if there is an "official" word on this, but I would be genuinely surprised that it voids your warranty. Apple engineers are very smart and know that users will interchange powersupplies if they recognize that the connectors are physically compatible (as is the case here.)

Long story, short: you should be fine.