Warning: contains spoilers for Captain America: Symbol of Truth #2!
As that Sam Wilson benefitted from a Falcon more than Steve Rogers ever did.
Steve Rogers was famously frozen in ice just before the end of World War II; he was later resuscitated decades later (the exact date is dependent on the story at any given time) and pressed into service once more. He met Sam Wilson in the 70s and the two became fast friends and comrades; Rogers' book was even titled Captain America and the Falcon for a time. With his mastery of his wings, Falcon provided air while Captain America fought below - but as mutually beneficial as this partnership truly became, it couldn't overcome a major weakness: Wilson could fly, while Rogers could not.
In Captain America: Symbol of Truth #2, written by Tochi Onyebuchi with art by R.B. Silva, Sam Wilson embarks on a new mission to track down a shipment of super-soldier serum. ing him is the new Falcon, Joaquin Torres. While Sam Wilson has no superpowers, Torres' DNA was mixed with that of Redwing (Falcon's personal falcon), giving him wings, enhanced eyesight and a limited healing factor. While Torres' wings are a part of his body, he nevertheless can accompany Sam Wilson on all missions.
This exposes Steve Rogers' main weakness once again: Sam Wilson has a true partner in Torres and the two have relatively equal abilities and ranges, but Steve Rogers was limited in his capabilities. Sam Wilson, to put it plainly, could do everything Rogers could do and fly, while Rogers was strictly limited to ground engagements. All that was missing from Sam Wilson's arsenal was the signature shield - which, as of 2014 when he took over Captain America's position, he now possesses.
In short, Torres can accompany Sam Wilson's Captain America anywhere, whereas Steve Rogers was forced to hang back while Wilson pursued enemies from time to time. While Rogers and Wilson never butted heads over this, the fans noticed that Captain America's "sidekick" was far more capable. Now that Sam Wilson's Captain America has his own series, he is sidekick no longer - and his new partner Falcon is more equal than underling.
