How can I stop being pissed off at my dad all the time?

Hello guys:) Even if no one reads this post, at least I will get those thoughts out. 

For the longest time I thought I had a great family and super cool parents - you know, how most kids do. Until later I found out my dad is kind of an asshole to everyone in the family. But since I was still pretty young and naive, it didn't impact my image of him too much, even though I didn't support his behavior towards my mom. 

But lately things have changed. As I become older and more independent, I think he feels his control of me slips away, and therefore always asks me to do tasks for him or tries to establish my more as the third parent of my four siblings, and gets extremely angry if I dare to talk back. Not long ago we had a fight, and when (after few day of completely ignoring each other) he called me to talk about it, he said "I'm the emperor in this house, and you have to do everything I say without complaining. You're killing my authority in this family with your disrespect". Also he thinks every person's purpose is to procreate and have at least three children, and as the product of that he REALLY hates queer people. And after this incident I... Just can't force myself to treat him the same. He pisses me off even if we're just in the same room, and can barely talk to him. I don't even look him in the eyes. I'm aroace, and know for a fact he will hate me if he finds out. But even after all that I still feel very guilty about how I treat him. I can't help but see the person who raised me instead of person who hurts my feelings. I would talk to him, but he doesn't listen to any critique of himself. I wish I could say it's because I'm a teenager, but I definitely do not feel that way about my mom - we're very close and spend a lot of time together. Are there any ways to maybe overcome my annoyance with him? I fear it's he is starting to catch up to the fact I'm being distant and it will start affecting my family as a whole soon.