In North America, polar bears (Ursus maritimus), grizzly bears (U. arctos), and American black bears (U. americanus) occasionally injure or kill humans. Although bear-inflicted human injuries are uncommon, they generate media attention that can lead to fear and unreasonable perceptions of the risk of bear attacks. Information on the behavioral responses of grizzly and black bears during interactions with people can provide a factual basis regarding the risks associated with recreating in bear habitats and assist land managers in developing and prioritizing bear safety messages. To address those objectives, we collected 17,171 reports of grizzly and black bear reaction behavior during interactions with people in Yellowstone National Park, USA, between 1991 and 2022. We used Bayesian Multinomial Logistic Regression models to examine the odds of attack, agitation and/or warning, flight, or curious behavioral reactions versus neutral responses in bear–human interactions. We found that reaction behavior depended on both the species involved and the location of the interaction. In developed areas and along roadsides, neutral responses were most likely for both species. On front-country trails, odds of curious or flee reactions were greater than neutral responses for both species. The odds of agitation and/or warning reactions from grizzlies were also greater in this setting. In backcountry campsites, there were marginally higher odds of black bears attacking; whereas, grizzlies had marginally higher odds of attacking during off-trail backcountry interactions. Although bear attacks were uncommon in all locations, grizzlies were ∼3.9× more likely than black bears to injure people in backcountry areas. Bear interactions with people were generally predictable; grizzly and black bears exhibited neutral behaviors or fled during most interactions. Curious approaches, agitation and/or warning behaviors, physical contact, and attacks were uncommon. Safety messages encouraging calm, confident responses during bear–human interactions are warranted, and may have better efficacy than those that generate fear and apprehension.