It sounds like you have forgiven Bob for what he said and if you have that's cool. None of us is perfect so in some ways we do have to accept others as they are. As long as Bob does not continue to be disrespectful or rude to you, you can continue to be acquaintances.
It's possible that Joe finds your acqaintance with Bob a threat to your friendship with him. If that's the case you may need to reassure him that you value his freindship.
If Bob really is a jerk and has no intention of being otherwise, maybe you should back off.
Ultimately you have to decide what you want from Bob and Joe. Is their friendship/acqaintance worth it to you? Do you want them in your life?
Good luck!
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