The zero occurs for \(s = -\frac{1}{RC}\) which corresponds to a time waveform \(e^{-\frac{t}{RC}}\)As a recap: I was wrong, there is no real frequency which can realize
\[ i_C = -i_R \]
This can be obtained for a value of the s variable which does not correspond to a real sine with a real frequency. Thanks for pointing this out.
However, the absolute value of the zero in the variable s corresponds to a point in the real omega axis when the zero begins to have an effect on the frequency response
\[ |H(j \omega)| \]
of the system.
so if you apply a voltage \(V = V_0 e^{-\frac{t}{RC}}\)
you will find \(i_C = -i_R\)
and so the total current through the admittance is zero - corresponding to the zero of the admittance at \(s = -\frac{1}{RC}\)