Re: How did Clarke know ?!
The suspicion that water was there stems from the thermal modelling one can do of a planet or moon.
It is a known distance from Jupiter and likely subject to strong tidal forces (though not as strong as Io, which is closer), so it'll get heated up. It clearly has an icy outer layer due to its brightness (it'd be a lot darker if it was rocky). Ice + the right amount of heat = water. In comparison Io is too hot for the water to have hung around, and Ganymede is too cold for the same process to take place. All of this can be worked out from earth based observations, knowledge of how rocks behave under pressure, spectroscopy / Mk I eyeball to identify the surface material, etc.
The various flybys that have occurred since Clarke wrote 2001 (in the 1960s) have only reinforced that analysis, and now Hubble (the 'scope that keeps on giving, tremendous value for money in the end) has practically confirmed it. The folk using Hubble to look for these jets were no doubt inspired by the accidental and most fortuitous discovery of similar jets on Enceladus.
So, all that remains is for Elon Musk to send a rocket up there with a big, empty tank and bring back a few thousand gallons of what would be the most expensive, and probably the least drinkable, mineral water and sell it in exclusive shops.
Clarke was a pretty clever guy, credited with inventing (well, at least nailing it) the concept of a geostationary comms satellite.