from Chapter XIII
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Although Pip loved Joe, Joe also reminded him of everything he was attempting to overcome. Pip felt his time as Satis House made him better than the others. Spending time with Estella and Miss. Havisham had given him aspirations. Pip is embarrassed because Joe will never be anything more than what he is. He's a working man, and he has dirt under his finders. He doesn't try to impress the people around him or strive to be something he's not. This makes Pip very uncomfortable.