Not sure how Valve 'pioneered DRM', not to mention that DRM on Steam is purely optional, as in it's up to the game publishers to decide if they want to use DRM.
Unfortunately it seems only indie game developers are opting for DRM free releases on Steam, but again it is the choice of the publisher, not Valve.
As for SteamOS, as far as I've gathered the OS itself will be fully open sourced, the Steam service application will remain proprietary.
I believe, before steam PC gamers had StarForce and alikes. Valve is not guilty of pioneering DRM, but guilty of making DRM bearable (which has both good and bad sides).
But it provides huge amounts of value and minimal pain. The biggest problem I have with steam now is that the app can be pretty laggy and I can't move it to my second screen for some reason. Neither of those things hurts my gaming experience. I get a friend system, integrated store, automatic updates, game distribution, achievements, in game browser overlay, steam cloud, etc...
But I still can't play my games without steam. I still can't sell them. I still can't loan them to a friend. It's just that I don't really care.