Well, they were celebrated for furthering the lands of their respective empires, or even attacking enemy nations in grand raids such as England's James Cook or Spain's Christopher Columbus. Why do we love Veterans? Because they inspire us with their roles in wars and let's face it, fighting is something humanity has loved since organized forces go into conflict with each other, whether it be Gladiatorial or War.
Why does a man who killed hundreds of enemies in the Middle East get a book deal and a movie made in his honor? Why does a Navy SEAL's tragic lost of brother's in arms made into a hit movie with an all-star cast?
We love people who represent our country, we love interesting people and we love a good fight. I bet you looked up fight scenes from movies of all sorts, I have, and simply, we love seeing hero's take down bad guys in interesting ways.
We love heroes and we love people who go beyond the call of duty for their country.
Now, they've changed because social norms have changed from what it was. Christopher Columbus used the native populace for his own ends, conquering a city of gold, throwing Montezuma from his throne, and enslaving the populace.
Jim Crow was around after the Civil War and it wasn't until the Civil Rights movement, and Government backing, that Jim Crow was done in and abolished. Apartheid, accepted for a time, but done in by a movement from a single man.
Things change, people change, and what was once a hero is now a vile villain. Not all explorer's, I imagine anyhow, are vilified, but there are a few.
Hope this answers your question.
God bless.