No he wasn't. He invaded their space repeatedly and aggressively in the pursuit of good TV.
Even in the episode where Steve handled the 10 deadliest snakes in the world, while it's true he "repeatedly and aggressively invaded their space," he was noticeably weary of their strikes and rarely came close to getting bit. When Steve did handle the snakes, he had a unique ability to calm the creature and not hold them in a crushing manner. I've seen the other guys--Austin Stevens, Jeff Corwin, etc--all handle deadly snakes and none of them have the touch on the creatures and handling techniques Steve did.
I remember one episode Steve and Terry repelled into a ravine to look for a snake. At one point during the climb out of the ravine they had to free-climb without the aid of ropes. Terry panicked and lost her footing and would have fallen to her death, but Steve grabbed her with one arm and, while still maintaining his own precarious grip, hoisted her back to safe footing. He was that kind of guy, ready for tough situations.