Captain reported a Master Caution Landing Gear Disagree message on take off and performed an air turn back and precautionary landing at departure airport.

Narrative

It was a normal operation kind of day; we got to the aircraft and starting doing our duties. Check list and tasks were being completed; just another normal flight. Taxied out to the runway and started our takeoff roll. We rotated and upon the gear up call; gear was lifted and surprised with a steering inop caution message. A few seconds later we had gotten a triple chime with a gear disagree master warning message. We turned the automation on as soon as we could and started to fly the plane. The PF (Pilot Flying) then gave the PM (Pilot Monitoring) the controls and radios while the PF began to run the QRH checklist for the gear disagree warning message. The PM then informed ATC of the event asking for delay vectors and informed ATC that they were returning to the filed after running the appropriate checklist. The PF ran through the threat and error management model and when that was completed both pilots agreed to return to ZZZ. Pilots knew that it was not a timed threat and we were landing overweight so we elected to burn off some fuel. While burning off fuel to reach our landing weight we double checked that we covered all our basis when it came to the QRH and keeping everyone informed of the event before we landed. We landed safely back in ZZZ and were met with emergency personnel and with our steering inop was towed to the maintenance ramp.I think our did a great job we communicated really well and kept a shared mental model to get the plane safely back on the ground.