We were the only boat anchored behind a motu in Bora Bora in 1984 when the beautiful Wanderer V sailed in and anchored beside us. Eric and Susan spent the next few hours meticulously cleaning the decks. Turns out they had just arrived direct from New Zealand on a 20-something day passage (if memory serves) and wanted to get the salt off the rigging. We shared some meals and it was like being with your grandparents; they couldn't have been more friendly or more humble. They were delighted to know I had read a couple of their books but seemed to have no inkling that they could have been childhood idols of mine. At one meal Eric dropped a potato and Susan said 'Eric they'll never invite us back if you keep dropping food on the floor.'
I was in a Westsail 32 and feeling pretty confident having a 45# CQR and all chain rode. Eric was concerned that it seemed a bit light for the boat.
Later that year when I was getting ready to head to Cape Horn from New Zealand, I asked Eric if he had any advice and he simply said 'keep the water out.' I still have a letter he later wrote congratulating me for 'keeping the water out' and asking how I had done so.
As fine a couple as you could meet, and that comes out in their books such as the one you are reading. Your description of how they embodied the simplicity and beauty of sailing are dead on.