In my experience, coyotes only become agressive towards humans if they have become accustomed to having them around in an urban/suburban environment. When I was younger, I attempted to hunt coyotes in the Colorado mountains. We could hear them all the time, but never got close enough to see one. Now, I see them all the time in the suburbs of Denver. As long as the coyotes were not habituated to humans, I don't think you had anything to worry about.

Ted