During his early years of being Spider-Man Peter tried to join the Avengers at some point. Why? For 2 reasons1. He thought they made money (which is a reference to the ditko comics)
2. He looked up to them. (Mainly Captain America and Iron-Man)He tried but Steve Rogers aka Captain America decided Spider-Man was not quite yet ready for the team and was more suited for solo crime fighting. (Much to Spidey's disappointment)
However Tony Stark aka IronMan said that Spidey can be a part time member like War Machine, Falcon, a few others.
And from that day foward Peter only goes to the Avengers if their are bigger threats like Thanos or Galactus
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My Spider-Man Headcanons
DiversosThis is my take on everyone's favourite web slinger and his friends and foes in my very own version of earth 616. Also included are the many alternate timelines in the Marvel multiverse