I don't think respect is "taught". Horses already understand respect. They're born knowing what it means because it's part of their language.
The issue is them regarding the handler as being worthy of their respect. In the horse world this means someone who is dominant. Submissive horses are the ones that release pressure when another horse pressures them, dominant horses are those who apply pressure until the other horse yields. The one that yields first is the submissive one.
All your interactions with this horse have been you submitting. When he decides not to do something and puts pressure on your by charging or rearing you release the pressure. Sometimes he is okay because he doesn't seemed fussed by what you're doing, but in effect you're just "sneaking" these times by. You only get to do what you want because he's not opposed to it at that time. That is not progress.
Being dominant doesn't necessarily mean hitting the horse, I know I don't. What it does mean is that in any fight you will do whatever it takes to make the horse yield. When I am challenged by a horse I commit to not giving in, to not yield, to do whatever it takes to be the winner. I look at a horse and I challenge them. For the most part, horses can sense this, there is something in the body language of a fighter, of someone who is committed compared to someone who isn't. If I ever get into a challenge with a horse and I'm the one who backs down - I know I'm done. That's it for me and that horse. Because I am not willing to go all the way.
So in effect, the aim is not to beat your horse into submission, the aim is to make the horse move away from you and 90% of the time that can be done without ever laying a hand on the horse. You just need to be scary and dangerous. 10% of the time it doesn't work. 10% of the time the horse has been spoiled by handlers who make idle threats and have taught the horse to ignore them. And I don't mean this personally or as a personal affront, but the way you're handling this horse is setting him up to need to be physically driven away by someone. You might not advocate for that method of training, which is fine, I certainly avoid it, but you are contributing to need for it.
As far as forcing horses... well I'm not on the bandwagon of "horses can't be forced". I believe we force horses to do everything. We force them to be captives, we force them to submit to ropes and halters and we force them to be ridden and I believe no horse would choose this. We don't necessarily use physical force because we don't need to, we're smarter than them and we trick them by "training" them, by applying pressure and the releasing we are tricking them into thinking our way is the only way. That the pressure in insurmountable unless they follow our way out. Little tricks build on other little ones and all of a sudden you have captured this horses mind without it even knowing. I'm not saying its all bad - if we didn't do it horses would probably be close to dying out. But it's something that you need to accept as a horse owner I think. Some don't, that's fine too, it's just my opinion.
People on here are responding to your story with their experiences and they might not all be for you, but its good to read them, understand them and usually you can get something from them.
With your situation... you respect your horse more, by fear of his hooves, than he does you. He is willing to go away all the way, to charge you down, to kick you or strike you, and you're not. No amount of chasing after you release him is going to change that, he'll just avoid you because you're inconsequential to him. And every time you actually challenge each other, not by catching him or chasing him or riding him, but by him deciding to do something, and you telling him otherwise he'll fight you on it. Hit the horse, don't hit the horse, it's all the same to me, but it sounds like you need help.