Much like horses, cattle need to learn to respect you and your horse. If you let them run over the top of you or learn to bluff you they will take advantage of it. Once they learn that, they get obnoxious.
When I worked for a small purebred registered Red Angus ranch we picked out a couple real nice bull calves to hold back and take to a bull sale. I never made them into pets. When I walked out into the pens to feed them their grain I always had a sorting stick or a stock whip in my hand. They were not allowed to crowd me or get pushy.
My neighbor who is in his eighties has a small bunch of cows he spoils. He went to load them in the trailer and they ran him over and about killed him because they don't respect him. They are like horses if they don't respect you are going to get hurt.
I DON'T LEAD 'EM AND FEED 'EM, I RIDE 'EM AND SLIDE 'EM.