The man, named in media reports as Rodney Elkass, a painter from Granville, had a brother who was a police officer, Seven News reported on Friday.
His cousin told the network Mr Elkass had a high regard for the force.
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"He's a fun-loving person who never got into any trouble and his history shows that. Something doesn't click," the cousin, who was unnamed, told Seven.
Mr Elkass's parents were "devastated", he said.
"They just can't believe what happened. Their son, a good boy, was taken away from them."
Mr Elkass, who has not been formally identified by police, was shot dead in his ute by officers at Castle Hill on Thursday afternoon.
Three plainclothed police officers confronted him after a caller rang triple-0 about 12.45pm (AEST), saying they'd seen a man with a firearm inside a car outside Castle Towers shopping centre.
Witnesses heard three shots before Mr Elkass died outside the shopping centre in front of scores of high school students studying at a nearby library.
Mr Elkass was on his lunch break from a Castle Hill painting job when he is believed to have run into an old acquaintance, Seven News reported.
The two got into a scuffle, which prompted a witness to call Triple-O, before Mr Elkass fled in his ute.
He was confronted by police shortly afterwards.
The three officers involved in the shooting were interviewed and offered counselling, but had chosen to return to work as normal on Friday, Deputy Commissioner Nick Kaldas said.
"There is no reason available to us or known to us at the moment to stand any of them down and they have not sought to stand down themselves - they're fine," Mr Kaldas told reporters in Sydney on Friday.
His brother said there had been an incident in the morning of the deadly shooting, which lead to Mr El Kass carrying the gun to protect himself, but he would not elaborate on it.
The incident is not believed to have involved police at that stage.
"It explains why he was with the gun ... he was defending himself, yes,'' he said.
Zac said his entire family was devastated by the shooting.
"Rodney was a great guy, very good to my children .th.th. he was opinionated, but who isn't,'' he said.
A senior police source said Mr El Kass was involved in a dispute with people he knew on Showground Rd, and allegedly pulled out a gun and pointed it at them.
It is unclear whether Mr El Kass was inside his vehicle or on the street at the time.
A triple-0 caller driving behind Mr El Kass reported that the man was armed with a gun and driving on Castle St, near the police station.
The caller gave a description of Mr El Kass' Toyota Hilux and it was broadcast on the police radio, which could be heard throughout Castle Hill police station.
Three plain clothes detectives, each with at least five years experience, ran to the intersection of Pennant and Castle streets.
Its alleged Mr El Kass pulled out a gun out and pointed it at one of the three officers through the open window, the source said.
Two police officers allegedly fired a total three bullets, with one hitting Mr El Kass in the neck.
It's believed Mr El Kass did not fire his weapon, however police must wait for forensic examination to be completed.
The three police have been interviewed and participated in a re-enactment of the shooting yesterday.
About 12 eye-witnesses have told police that Mr El Kass pulled out a gun and pointed it at an officer. The triple-0 caller has also given a statement.
Mr El Kass, 37, was not known to police.
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