You can definitely continue to use Servlets instead of Endpoints. You can think of Endpoints as a REST optimized layer that takes care of a lot of the manual setup for you using simple annotations <https://cloud.google.com/appengine/docs/java/endpoints/annotations#sample_api_annotation>. With Servlets you will need to manually configure the URL paths <https://cloud.google.com/appengine/docs/java/config/webxml#Servlets_and_URL_Paths> for client access, as well as any security you wish to have to protect your methods from undesired access.
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