Some soils erode worse than others, but u got what u got when it comes to that. In my experience that step erosion is pretty common, but once it develops it stops eroding any further. The steps tends to act as a wave breaker unless the water level goes higher. From the photos, riprap placed on the step would be the easiest thing. You would have to backfill with clay @ the step to make the erosion mats look good now. In my area a kind of soil called limerock is used as a cheaper substitute for riprap in that situation, but this is somewhat local to West AL prairie soils. That step can serve as a shallow substrate fore aquatic plant growth and , when water levels are high, decent structure for holding bass; so don't be so quick to count it as a problem.
-HH