Generally speaking, it's always a good idea to keep your distance from wildlife. This is especially true of elk who this time of year are particularly feisty. One big elk in Colorado recently proved that point by challenging all of the vehicles everywhere.
Estes Park is one of the most beautiful towns in America. It's also an area that is home to some of the largest elk herds which is why it's no surprise one bull just walked through the city like he owns it.