I agree with not leaving feed in front of him all the time, but I am afraid that feeding just once a day may be pushing it a little to get maximum gain. I generally stick to feeding twice a day, and limit time to eat to 20-30 minutes then I pull feed. He will learn to clean up when he has feed. I also tie or shut mine up during the day and dont give them any hay, that way they are hungry again when I feed in the evening. Also if the feed is a complete feed and you have steer that naturally has volume to him, I limit their hay intake, if the feed is complete then he shouldnt need the nutrient value of the hay, so he just needs enough roughage to keep his system working properly, so I turn them out at night with just a few pads of hay to keep em going.
I am a firm believer in its ok to let one get hungry, think about your eating habbits, when you eat on a regular basis and dont allow yourself to truly experience hunger then you typically eat less. However if you go all day without eating and get really hungry then you tend to want to sit down and gorge yourself. This is why a lot of succesful diets tell you to eat several SMALL meals throught the day, then you dont get hungry and gorge yourself. It all works the same in animals, so its ok to let him get hungry between meals, he will eat more if he is truly hngry when he eats than he will if he is just eating out of routine because its feeding time!