The only real concession the EU made was just allowing Trump to tariff them at a certain rate, and not counter-tariffing back (with various escape clauses).
While the EU response certainly wasn't a feel-good display of chest thumping, I think it was somewhat effective. He was able to strut around and feel big, and they were able to move on.
The only reason the EU would really want to apply counter tariffs against the USA would be to either make a point, or because they are actually afraid that exports from the USA could outcompete EU products unless tariffed, but this just isn't really the case right now.
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The only form of retailiation I think the EU should actually be pursuing is the equivalent of tariffs on US software. This is the area that the USA is a highly competitive 'exporter', and putting up barriers agaisnt these software services would be a good way to hurt the USA, and protect / stimulate domestic alternatives.