The present invention relates to a steering control device and method, and a steering control system, and, more specifically, to a steering control device comprising: a rack position detection unit for detecting the rack position of an output device after the ignition of a vehicle is turned on; a steering wheel rotation angle determination unit for determining the rotation angle of a steering wheel corresponding to the rack position; a steering wheel display unit for displaying, on the steering wheel, the center position of the steering wheel according to the rotation angle of the steering wheel; and a steering reaction force provision unit for providing a steering reaction force according to the rotation angle of the steering wheel.