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One of the reasons that cattle don't make good pets, is that they are less inclined IMO to be 'trained'. We have beef not dairy. There is a steer here that was bottle raised and he is sweet and somewhat dog-like.
Think though, that you are talking, if you get a full sized steer, about an animal that can weigh a ton. We have had a bull throw another 1-ton bull over a 4 1/2 foot tall barbed wire fence, they are so powerful. If they are afraid they can go crazy. Even if they toss their head to disloge a fly, they could break bones in your body without intending to if you are in the way. As cute and sweet as they are, they really don't make good pets. Sorry to say that. Mini's may be different, and dairy cattle are more domesticated than our breed, but they really are 'wild', compared to a horse or a dog. Think about it. You could be putting yourself or your family/friends at risk of an injury if the circumstances came together.
Out here the stocking rate is 1 cow or cow/calf pair per 10-acres. We feed hay from November to Feb. approximately. go farther south and west and the stocking rate is 1 per 20-acres. (Talking forage raised beef).
Head butting is a pretty natural behavior, and the calf uses it to stimulate the cow's milk. It is sooo cute when they weigh 75 pounds and when they are approching 150 they can knock you over, and when they are 300 they could hurt you badly.
They are beautiful animals, but from the experience I have had they can be sweet and docile and yet not pets. They need to have a certain "fear" to move away from you when you get into their space, or you wouldn't be able to manage them. For example. We can hand feed (cattle cubes) some of our cows, a few calves, but they stay as far away as they can and retreat if you get 'too close'.
We never hand feed a bull, and our one steer 'Rocky', who is now about 6 years old....we don't because if he came up to nudge you to remind you he was there, and stimulate you to feed him, he could do serious albeit unintended harm to you. I had Rocky fairly well halter trained as a baby, but I doubt that now, 5 plus years later, that I could halter him.
Others may have different experiences, and keeping a cow without expecting too close personal a relationship (like a horse or dog) could be rewarding. Bottle raising a bably can be rewarding, it the calf will think of the feeder as momma..
To sum it up, I just want to say be very careful with this undertaking.