Generally, many of the LiveCycle/AEM Forms JEE APIs have not changed drastically but they have been recompiled with newer JDKs and libraries.
The standard endpoints are still supported as before.
If you can you should install an AEM Forms 6.5 JEE test server (DEV license is free) and test your external Java 7 application. REST and SOAP etc are still available and have principally not changed. Nevertheless, you should test this as a jump from 6.1 to 6.5 is huge and the official migration path is complex:
https://experienceleague.adobe.com/docs/experience-manager-65/forms/upgrade-aem-forms/upgrade.html?lang=en#upgrade-aem-forms
That is if you want to upgrade your current installation vs starting fresh in 6.5.
If you have Java based DSCs (custom components) then you might have to recompile and some aspects might not work completely OOTB due to the differences between Java 7 and Java 8.