In my opinion, he did, you gotta remember this was no actor (like Paul Hogan) he was the real deal.
He really put Australian tourism on the international market, not to mention his generosity with the money he made to many worth while projects and charities.
Like I mentioned before, I didn't agree with some of the things he did (mainly for his own safety) and setting an example for dickheads that would go out and try it, but I suppose when you're in front of a camera the fuckers do want you to do stupid things.
Again in my opinion, he went beyond his field of expertise, he could read the body language of a croc like a book, he was also very good with snakes, but I somehow don't think under water stuff was his bag, a valuable lesson for all, stick with what you know best, in this very unfortunate case it cost Steve his life.