Q1) We often defined the Riemann integral of a function with Darboux sum, but could we define the space of Riemann integrable function as the closure of step functions ? (but in "$L^1$"-sense) (as Lebesgue Integrable function are defined as the closure of simple function). I mean, $f$ is a Riemann integrable function on $[a,b]$ $\iff$ there is a sequence a sequence of step functions s.t. $$\lim_{n\to \infty }\int_a^b f_n=\int_a^b f$$where $f$ are step functions.
Q2) I have an other small question (but related to the previous one). Regulated function are Riemann integrable, but is the converse also true ? I.e. all Riemann integrable function are Regulated. I recall that a regulated function is a uniform limit of step function.
For Q1), the fact that simple function are dense in Lebesgue integrable functions is a consequence, not a definition ! Normally, $f$ is integrable in lebesgue sense if $$\sup\left\{\int_a^b \varphi\mid \varphi\leq f\text{ simple}\right\}=\inf\left\{\int_a^b \varphi\mid f\leq \varphi\text{ simple}\right\},$$ and we write $\int_a^b f$ this number. For Riemann, we say that $f$ is Riemann integrable if $$\sup\left\{\int_a^b \varphi\mid \varphi\leq f\text{ step function}\right\}=\inf\left\{\int_a^b \varphi\mid f\leq \varphi\text{ step function}\right\}.$$
But to define $\int_a^b f$ as "there is a sequence of step function $(f_n)_n$ s.t. $$\int_a^b f=\lim_{n\to \infty }\int_a^bf_n$$ has unfortunately no sense. May be you mean that : "if there is a sequence $(f_n)_n$ s.t. $f_n(x)\to f(x)$ for all $x\in [a,b]$, then we define $\int_a^b f$ as $$\int_a^b f=\lim_{n\to \infty }\int_a^b f_n,$$ but unfortunately, you can have an other sequence of step function $(g_n)$ s.t. $g_n(x)\to f(x)$ for all $x\in [a,b]$" but unfortunately it can happen that$$\lim_{n\to \infty }\int_a^b f_n\neq \lim_{n\to \infty }\int_a^b g_n,$$ and thus $\int_a^bf$ wouldn't be well defined (since depending on the sequence).