It is not true that steel is more elastic than rubber. Not in common language.
Yes, steel has a larger modulus of elasticity, Young's modulus, the ratio of stress to strain $Y=\varepsilon/\sigma$. This is in the region of elastic response as long as the deformation $\sigma=\Delta \ell/\ell$ increases linearly with stress $\varepsilon =F/A$. The response is assumed to be immediate (fast, but slower than the speed of sound). For metals, this is on the order of 100 GPa, similar values for iron and for steel - it takes a lot of force to make a small elastic compression or elongation.
Steel also has a larger elastic limit of stress, a steel rod can support very large tensile loads without permanent changes in its length.
This does not say anything about the range of deformations that are reversible. For steel etc the elastic strain limit is usually on the order of $10^{-3}$. For rubber the range of elastic stretching is much larger. That is why rubber is elastic in ordinary language.
Compressibility is a word that has similar meanings in physics and in the common language. In physics, it is the reciprocal of the bulk modulus which is closely related to Young's modulus. In common language, compressibility is similar to elasticity.