I came up with a way to weave the hot deployment step into Maven using a profile and the Ant run plugin. I have attached the file hot-profile.xml which you would add to the <profiles> section of your build. Then, you can run hot deploy as follows:
First, explode the WAR
mvn -q -o -npu process-classes war:exploded -Dmode=hot
Then, hot deploy changes
mvn -q -o -npu process-classes -Dmode=hot
The -q -o -npu puts Maven in quite, offline, and no-plugin-update mode, making it as fast as possible.