Well, there you have it. You are saying right here that they did it because of a similar response they've seen in the past and they were intentionally poking that beast again.
No, as I've already explained multiple times, the intent needn't be to provoke. More plausibility, it was to stand up for freedom of expression and to take a stand against those who threaten and murder, to stand in solidarity with those living under threats or who have been murdered. To not cower and give up our freedoms in the face of death by would be murderers who wish to take away such freedoms.
Less plausibly but still a distinct possibility, it is also to get such thin-skinned Muslims who go into a frothing rage at any such drawings to start getting thicker skins (as they become desensitized to it). When such depictions are more common, they'll be more likely to just brush it off as something not to get so worked up about. Furthermore, such events also serve to spread the risk around for those who are targets of Islamist extremists. The few people who speak up against Islamist extremism (Ayaan Hirsi Ali, Sam Harris, Maajid Nawaz, among several others) become targets, placing themselves at high risk for an attack. The more people who follow in their footsteps, the less risk each individual suffers overall, as with so many targets out there and limited abilities to carry out an attack (and limited numbers of individuals able and willing to carry out such attacks), each individual personally faces a much smaller risk.