Brosnan coming across as comfortable in his own skin and the other things that Rush Limberg described...was kind of the point. He was already established, comfortable with his life style and more importantly his job. Brosnan's Bond was a veteran agent and one can assume been in the Navy for many years by "Die Another Day".
Craig is still in his formulative years. He is meant to be sloppy and rough, make mistakes and learn from them. It will be interesting to see if he has evolved during the time between "Quantum of Solace" and "SkyFall". One thing that I hope is finally referenced in the latter is his naval service. I don't think it was mentioned in "Casino Royale" where MI-6 actually recruited James from. He'd obviously been on their radar for quite some time, enough to get M's attention at least.