^^Disagree thoroughly with the above, but it depends what you mean by 'respect' and also what you're asking for v's what you've taught the horse.
Kayla, I will tell you how I go about it. Firstly, I do (tend to, not always) start with a rope attached & teach the horse to yield to direct(actual pressure) & indirect(implied, waved whip, bodylanguage, etc) pressure in all directions relatively close up, before doing it at greater distances until it's 'lunging', then I make sure that's pretty solid before I 'test' it with 'free lunging'.
So... If I direct pressure towards the horse's shoulder/neck/head, he will turn away from me. Pressure towards his rump, he will move his rump away, so turn towards me. Waving my arm/stick out behind the horse(&/or pointing to where I want the horse to go) tells him to go forward. Using a motion as if he's got a rope attached & I'm drawing his head toward me tells him to come to me(I first teach him this with a rope attached & actual draw). Using a drawing motion along with pressure out behind(well, it's more beside if they're facing you) gets the horse running to you.
And as usandpets says, removing ALL pressure the instant the horse does 'Right' is an important part of teaching him what Right is. But start out accepting whatever the horse can give you, wherever he's up to in training. Eg. Accept/reinforce the 'tries'.