Doesn't seem like you can share with a specific circle.
You can use this method to get all of the visible people in the user's circles using this method
queryForPeopleListWithUserId:collection:
which is outlined here:
https://developers.google.com/+/mobile/ios/people
Explanation of the parameters from the header:
// List all of the people in the specified collection.
// Required:
// userId: Get the collection of people for the person identified. Use "me" to
// indicate the authenticated user.
// collection: The collection of people to list.
// kGTLPlusCollectionVisible: The list of people who this user has added to
// one or more circles, limited to the circles visible to the requesting
// application.
And another question that goes into this a little bit:
How to Fetch Google Plus circles in IOS Sdk
It does not seem to me like you can discern who is in what circle, unfortunately.