It's possible run pg_dump in the RDS or in a S3 (without using a intermediary like ec2 to execute the command)
The AWS CLI added support for uploads from stdin, so you now have the option of doing something like this:
pg_dump ...dbargs... | aws s3 cp - s3://my-bucket/backup-$(date "+%Y-%m-%d-%H-%M-%S")
It's not ideal, as you are streaming to your local machine and then into s3 - but it's at least a single command.