No respect? It sounds like leadership issues. Your his yearling friend not his leader.
Horses NEED a leader. If your not going to lead them, they will lead you.
Its not respect its survival. A horses natural instinct.
If your mushy and lovely and smother them like a puppy your weak to the horse and the horse knows it and he needs to take charge since you can't.
Going right back to basic's with your horse and back to the round pen then.
Move his legs, switch his transitions and lead your horse with directions.
Your horse kicking out at your while they lounge is disrespectful so make him work harder with more transitions.
Your horse wants to blow up at the most random times. Don't pet him and tell him its going to be okay boy, I love you. Get his ass out on the lounge line and work him. Or if your under saddle get trotting.
You have gained a great connection with your horse with feel.
You know when he is scared or tense. Good, get his legs moving..
Work him out of his feelings and back to your focus.
The moment you feel "Oh crap" start moving.