Today's vernacular use of the word Authority typically implies a oppressive dictator style of power. Relationships with parents, teachers, and employers should be seen in a better light. The purpose of these types of relationships is to guide the individuals under them. Any resented authority leaves but two paths for the individuals under him or her. Either he could be avoided, or if avoidance is not possible, accepted until a shift in power.
I do not look forward to exercising authority as I get older. There will be times that it is necessary. However, experience has taught me that thoughtfully balanced authority can be critical in development. In times that it is necessary to act as an authority figure, it is best to be clear on what the rules are, swift in chastising any breaking of the rules, all while remaining friendly and fair. The key to success as an authority figure is setting rules that are reasonable and fair to everyone.