My condolences goes out to his family.
Despite what has been said about him, Steve gave us a different perspective of how animals behave...by coming up close to the creatures. This has never been done before and from there, we are able to know more about how dangerous creatures live.
On the softer side of him, I recall him rescueing other creatures as well, including creatures trapped in poachers trap etc. There were also episodes where both he and his wife cried because the rescues of the engandered animals came too late and some had died.
I guess it would be hard to find another person as dedicated as him in his work, and I believe his wife and children would continue to share the passion and continue his work even after his death.