I only sail with one other person. Luckily neither of us care for leadership. But I will usually take charge as I am more experienced and he doesn't mind doing whatever needs doing.
We usually play on a sloop, so he will be responsible for the lower deck (cooking, charting course, navigation, etc) I'm responsible for the upper deck (steering, sails, cannons) but these aren't set roles, if he wants to grab the wheel he can.
Sometimes it's good to do a bit of role reversal and if you're the most experienced, it's good to take a step back and let your crew learn by doing. You want crewmates that can do everything (at least I do)
For the first few times we set sail, I sat back and let him learn, only stepping in when I needed to. I wish he had his own captained ship at this time as this probably would have made him care more about the ship. Multiple things can go wrong on the ship, you can get knocked off, you can die, you can disconnect, etc. In times like that, it's useful to have someone who can take over.
I don't believe in one person being the captain and that's it for the rest of time. I like being the Captain and I am often the Captain. But I also don't mind taking a step back, letting someone else be captain.

