Kinda sounds to me like there are two issues here, one underlying the other. 1 fear of cantering (which really seems to me to be a fear of making your horse canter when you want and the results of that) and 2 getting the horse's respect. The way you described it appears to me that the horse has gotten the better of you. Now don’t be offended by this, as it appears that this is actually a pretty common state of affairs, unfortunately, and happens to many, many people.
So. I suppose if I were to give you some ideas, it would be to go out and find someone who can show you how to gain your horse's respect (and it has nothing to do with “bonding” with it ((that comes after respect)) or grooming it, or giving it treats). It has everything to do with making, yes, MAKING, it toe the line when you ask it to, and that includes cantering.
Next; no, not really, you shouldn’t just really trust your horse. Once it respects you it will earn your trust like anything else will and you will earn its trust, you go just putting trust in it, like some human interaction that it is (the process of trust I mean), its likely the horse will walk all over you and take advantage of you (which it appears to be getting towards now anyway). Given the size, power stamina etc. of a horse, given too that they are a relatively dopey (compared to humans) animal, this can lead to some dangerous stuff.
For example, I am lucky enough to train a reasonable number or young horse (though not so much lately) and that means from never touched to getting them going. I give them their first interaction with a human, their first ride and I get them working. You think I trust them? HELL NO! I'm on the look out for all sorts of shenanigans, especially in the first few rides. Mostly they go pretty good and never even get tucked up much less buck, but trust them? No way. when we have done a few hundred, or thousand, hours together, then Ill start to trust them.
But, once again, don’t get down about it, and what Im writing isn’t, by any means, meant to be nasty or insulting, so sorry if it appears so, but thats not the case. The thing is that most people, its beginning to appear to me at least, have the number one source of their problems, is a horse that hasn’t been taught to respect its rider. So you are (I'm guessing) dealing with a very common problem.
Find someone who can teach you to get your horse respecting you and it will come into a canter easily, there won't be (well, there kinda always might, but thats a hazard of riding a horse) be any bucking, or much, but part of it is to learn to cut that nonsense as the horse pulls it.
Then there's actually riding the canter. That’s the easy part, it pretty much like a sped up walk, nice and smooth for most horses. Just relax, sink into the saddle, heels down, and go with the flow. But, get the horses respect and it will make a world of difference.