Cattle are prey animals; we are predators. Unlike horses whose first instinct is to flee and only attack if cornered, cattle will group together and defend themselves - watch any film of wild buffalo and lions. So if they feel threatened by a predator, especially one not known to them, or with a dog and even more especially if they have calves, then they may attack.
Young cattle are very inquisitive - if they get a fright, they will generally run so far then come back for a look. Horses do the same, with much snorting usually. If there is a big group, it can be a bit intimidating for a human.
Also each beast will have its own personal space; this will vary in size and the animal will be more comfortable letting some other cattle / humans into it than others. I'm sure some are more people frinedly than others - that may be their experience although I think it is influenced by maternal behaviour. My Breeze is much more comfortable with us than Blizzard, and acording to the breeder, their respective dams are the same.
In the wild, herds of cattle may be territorial but I don't think it would be the same for domestic cattle because of the way we keep them and the way they have been bredd over the generations.