We've never had a steer that topped Big Joe (or even came close), but your story reminded me of some similar stories: The chap who used to truck our cattle (you might know him Tom - he's from your neck of the woods) was about 250 pounds of non-emotional, typically-grumpy muscle. He always seemed liked just about the toughest guy you could imagine (and probably was). But one time he got talking and said something like, "Yeah, when Dad and Mum passed I didn't shed a tear. Figured it was just their time. But when that old cow that Art gave me finally died I bawled my eyes out". I was a kid at the time, and I was in shock at the thought of this guy shedding a tear under any circumstance.
I can also appreciate Ray's comments about animals forming a bond/understanding with their owners. My grandfather was a proper teamster, and we always had a team of draft mares for logging (and drawing sap). He died early in the winter of 2004. We didn't hitch the team up at all in 2005/2006, but in Jan of 2007 I harnessed them to take them for a quick spin around the pasture (or rather, what I thought would be a quick spin around the pasture) to get them back in the groove. The second I stepped on the logging sleigh after hitching up the last trace chain, they took off at speed. I had a very hard time trying to check their speed, and they fought the lines to the point where I stopped trying to turn/guide them, and just let take me where they wanted. I was worried, because I didn't intend to work them hard because they hadn't worked in over two years. But they really wanted to boogey, and you could tell they were having a great time and very happy to get back to work. They took me over a mile into one of our hardwood bushes, and stopped the sleigh exactly at the last loading spot where my grandfather had been logging with them right until the morning he died over two years earlier. I stopped, let them catch their breath for half an hour or so, hopped back on the sleigh, said something like "Good work girls, let's go'. Then (again without any guidance from me) they took me straight back the path my grandfather would have last taken them back, and stopped in the barnyard exactly at the last spot my grandfather had last been unloading with them.
After that, they followed commands and were a well-behaved team (though we never had time to do any more logging with them, and I certainly never developed the connection/understanding my grandfather had with them). But they never fought the lines and always followed commands/guidance after that. I guess they just wanted to get one last run in to the bush where my grandfather had last been working with them. Maybe they remembered there was a skid of logs left to come out from the morning before my grandfather died.