Not quite the same. gRPC is primarily for heterogeneous service interoperability, ZeroMQ (ZMQ/0MQ/ØMQ) is a lower level messaging framework. ØMQ doesn't specify payload serialization beyond passing binary blobs whereas gRPC chooses Protocol Buffers by default. ØMQ is pretty much stuck on the same machine or machines between datacenters/clouds, whereas gRPC could potentially work on a real client too (ie mobile or web, it already supports iOS). gRPC using ØMQ could be significantly faster and more efficient for in-cloud/-datacenter services than the overhead, latency and complexity of http2 request/response chain. I'm not sure how (or even if) gRPC TLS security is adequate for public cloud and mobile/web usage, but one could always inject end-to-end security requirements (ie libsodium) at the router/controller level of the app/app framework and run in plaintext mode (which would also remove OpenSSL fork BoringSSL from causing maintenance headaches because of upstream flaws).
For very high latency / low bandwidth services (ie mission to mars), one would think about RPC using a transport like SMTP (ie Active Directory alternate replication) or MQTT (ie Facebook Messenger, ZigBee, SCADA)
Bonus (off-topic): It would be nice if gRPC had alternate pluggable transports like ØMQ (which also itself supports UNIX sockets, TCP, PGM and inproc), because HTTP/2 isn't stable in all languages yet and it's slower than ØMQ. And, it's worth looking at nanomsg (especially in the HFT world) because it could be extended with RDMA/SDP/MPI and made crazy low-latency/zero-copy/Infiniband-ready.