A key part of Sam Wilson's character is his empathy -- from the second he meets Cap, he's open to hanging out with him, trading a few stories of their respective overseas tours with him. This is also shown by his work at the VA, leading discussions with veterans and sharing his own experiences and disillusionment with the US government and its various causes. He helps, and he teaches, and even does so in the middle of battle, falling back to play sniper and backup at various points in fights throughout The Winter Soldier and Civil War, even when he's grounded he's off running to help the SHIELD agents in the Triskelion. (This disillusionment was mostly brought on by the death of his best friend and fellow paratrooper, Riley -- after he was gone Sam felt like he didn't have anything left to fight for, and left the air force because of it.) He can certainly empathize with Cap's disillusionment and fight to try to get back into the world, he feels it just as much as Steve does.
Sam is also a bit of a realist -- he takes things as they are and jumps in when and where he can to help. He's got a huge amount of respect for Cap (who wouldn't), volunteering to help him and Natasha without being asked; and continuing to stay on with Steve even after all the madness in DC is over with. He is not afraid of telling anyone the truth, though, he makes it clear that he thinks Bucky is the type of guy you can't save in The Winter Soldier; and he still hasn't warmed up to him entirely in Civil War, though they are allies in the fight against Helmut Zemo. He's not shy about showing it, either, often offering his opinion to Cap (or the other Avengers) on certain courses of action or telling villains to shut the hell up. He deals with the messy reality he's been forced back into after Afghanistan with humor and a desire to help where and when he can, without anyone telling him what to do. The world might not be perfect -- and neither is he, he's certainly aware of the fact, but he can always do his best and try and help people that are suffering; as both an Avenger and a counselor.
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Sam is also a bit of a realist -- he takes things as they are and jumps in when and where he can to help. He's got a huge amount of respect for Cap (who wouldn't), volunteering to help him and Natasha without being asked; and continuing to stay on with Steve even after all the madness in DC is over with. He is not afraid of telling anyone the truth, though, he makes it clear that he thinks Bucky is the type of guy you can't save in The Winter Soldier; and he still hasn't warmed up to him entirely in Civil War, though they are allies in the fight against Helmut Zemo. He's not shy about showing it, either, often offering his opinion to Cap (or the other Avengers) on certain courses of action or telling villains to shut the hell up. He deals with the messy reality he's been forced back into after Afghanistan with humor and a desire to help where and when he can, without anyone telling him what to do. The world might not be perfect -- and neither is he, he's certainly aware of the fact, but he can always do his best and try and help people that are suffering; as both an Avenger and a counselor.
Also, the pertinent links have been fixed!