I think common sense and logic should prevail in all circumstances
Being able to see the V sheet tells me they couldnt have been to far away. Assisting by responding to the stricken vessel then towing them back to the shoreline would have been an act of instinctive human nature under abnormal circumstances, (which i think is the definition of a hero) going beyond that i think is crossing the line.
I have seen boatman pull up at a bottleO and load up with a couple of cartons for an over night trip .. scary shit man .. would i be pleased to see them if my vessle was under duress .. without a doubt