in the early days, steve doesn't realize the avengers care about him a lot because they are vastly different people with vastly different socialization than the commandos, but then something happens to him in a fight and the avengers collectively flip their lids and that is how he learns he is Very Important to them
Steve had never been a stranger to friendly teasing. Bucky was a little shit, of course, but so were the Commandos. He’d been called every moniker that popped into his friends’ brains: “Captain Tightpants” (long before it was a cultural reference, thank you very much), “Captain Mom,” “Twinkle Toes,” “All-American Showgirl,” “Blushing Betty,” and names far more filthy. But he’d understood why. He was the commanding officer and he was, when it came down to it, a greenie who got damn lucky 95% of the time. Dugan, Dernier, Falsworth, even Bucky, they all would have been infinitely more qualified to be CO, and so he knew where the teasing was coming from. He knew it was his men’s way of telling him they cared for him while keeping his ego in check. (Bucky could’ve told them Steve was a good enough self-critic as it was and they all could just damn well stick to the dancing references.)
The Avengers, though. Steve had no idea what to think of the way they spoke to him.