If William, the man related to the “To the Ends of Earth” enters combat with me but I don’t kill him will I still his quests later on?

I gave him the yarrow and he gave me horse reviver. I know there are more encounters after this. But I couldn't help but antagonize him, eventually Arthur said “you’re wasting your time, maybe I should just shoot you and burn your tents etc etc” and William said leave me alone and pulled out some sort of knife. I just got on my horse and ran away.

Will his story encounters continue after this or did I screw my self?