LINDEN, Texas—About 2,000 of Trooper James Scott Burns’ family, friends, co-workers, fellow law enforcement officials and acquaintances gathered here Saturday to pay their last respects.

“Scott had an eye for the criminal element. As a DPS officer, he made the world a safer place to be,” said fellow DPS Trooper Michael Whatley, who grew up and worked closely with Burns.

“If everybody was like Scott Burns ... there would be no need for all these men and women in uniform. The world would be a better place to live.”

Whatley said it was difficult to narrow down ...