It's not Steve's fault their former lead singer wouldn't move around the stage and had a "punk" look to him. They needed a singer with some charisma. Therefore, Bruce comes on the scene. The first 2 albums were good though, have to admit that.
It's a matter of taste. Bruce is more of a traditional metal singer, where Paul brought an unique raw, aggressive vibe to Maiden. I always preferred that. The only Maiden album with Bruce I really liked was NOTB.
Here's a song recorded with both of them.