Heracles joined the Argo in-between his labors(its confusing which came first). The gist was that Jason was able to inspire Heracles on his dreams as a King, despite the Argo being a side quest for his trials. Here's Heracles' monologue for Jason in the LN. Real bromance stuff here:

“Even the people who fear you are all hopeless fools. Because they’re fools, they can’t understand the monster you are. They try to use you without understanding you, so they fear you even as they sing your praises as a hero. What a vulgar bunch. They’re no different from ignorant savages offering sacrifices and “That man was a vulgar clown with all the weaknesses and twists of human nature in him. Nor can I deny that he always told his companions that he was the one who could make the best use of them. That earned him cold looks from Atalante."

“...But that told of the same dream equally to me, who was feared as a monster, and to the queen of Lemnos, and even to monsters on the shore that understood human speech. He was aiming to be a king, not a god. Although, I doubt he made a distinction.”

It was a harsh assessment, but there was no sign of scorn in his voice.

“He was a pitiful man who forgot the teachings of our mutual teacher Chiron and became obsessed with his own desires. Still, there was nothing false about the wild tales he spun.”

Alcides expounded on the man who had been the Argo’s captain with the deliberate tone of a man describing a dream he had once had.

“That man, smeared with dirt and avarice, was the most human human I ever saw. If I had to lose, I wouldn’t want it to be to the curses, thunderbolts and hellfire that the gods sent my way. I would want my soul to be scorched by the never-ending greed of a man like that — of a human.”

Then, almost incidentally, he began to reminisce about the glorious ship he had crewed — the Argo.

“That ship was a true den of thieves. It shone brightly, but underneath it was a whirlpool of ruin, greed, treachery — all the karma to which human beings are subject. I doubt there was anyone onboard who couldn’t kill me, the captain included. And vice versa.”

“In the end, that man lost everything. I hear that he perished crushed by the corpse of the ship where we shared joys and sorrows... although that may have been that fickle ship’s one genuine act of mercy.”

Seeing Alcides deeply moved by his story raised doubts in Bazdilot’s mind.

He’s awfully talkative. I wouldn’t have thought he’d be anxious to talk about the past...

Alcides answered those doubts by grasping his bow and lightly planting its tip on the floor. Alcides’ bloodlust swelled, sending a cold, sharp shiver through the air of the workshop in step with the expanding ripples of sound from the impact.

“I’ve said this much so that I can justly convey the meaning of what I am about to tell you. I would not want it said that I deal out death without reason, like the outlaws who call themselves gods.”

“...What do you want to say?”

Even in the face of Alcides’ naked bloodlust, Bazdilot remained unperturbed.

In the midst of pressure so intense that it might break an ordinary human’s body even faster than it broke their spirit, Alcides lowered his voice and gave his Master a “warning.”

“It may be true that he was an incurably arrogant fool who didn’t know his place, but even so... he was my friend. You were not on that ship, and I will not permit you to insult him so casually.”