Galen and Gideon are angsty, guilt-ridden men with trust issues. Who love each other.
Just for context - that "oath" Galen is talking about? Is the one he took with the woman he was in love with, and it was an oath he kept, even after she died. That's how much he loved her. HE IS NOW TAKING THE SAME OATH WITH GIDEON. DOES THAT TELL YOU SOMETHING. I THINK IT DOES.
Source: Crusade.
Episode: The Well of Forever.