Truly I see Peter as a humble man - or better still, a humbled man, like Paul. Certainly Cornelius was directed to him by the angel - and Paul and Barnabas went to Jerusalem for a decision concerning Gentile converts and Peter spoke up.
But Peter's boldness concerning the gospel was never self aggrandizing. Thus if any of us deign to walk in the footsteps of Peter, it will be walk of humility - as it would have been for anyone trying to walk in the footsteps of Abraham.
Alamo-Girl, you are absolutely 100% correct. Remember Christ's advice to Peter, that when he was older, they would lead him where he didn't want to go.
Who must be the first among you, must be a servant. Any other attitude is simply not Christian.