My horse just a few weeks ago had horrible ground manners. He would walk all over me and pull me into stalls. He even was almost hit by a car because he got loose at the park. He had some injuries and some pretty bad stiffness. So I've been lunging him. He has a bad habit of getting too close to me while lunging, but if you put the whip in the direction of his head without actually whipping him he moved out. Sometimes I put a ground pole and make him trot over it. And then when we get in front of his stall, I make him stand. Then I let him in. He usually has leftover dinner in his stall. I stood in front of the food and push away his neck whenever he puts his head down (not aggressively!). After just 3 days of this he now waits calmly by me until I tell him he can have his food.
I think that your horse not respecting you is a big deal. It's not okay that a 900-1300 pound animal does not think of you as their leader. It could potentially be very dangerous as well. Like what happened to my horse.
Respect from the owner, now that's a little more tricky to answer. I think it may be not running them into the ground. To care for them and pamper them. Simply to show them you love them. I've found that breathing into their nostrils is a good way to earn their trust.