Personally I think that when you hold him or he sits on your lap, you are taking the submissive position. It might be you really have not seen a rooster in a mature flock. The hens adore him. They groom him, pet him and are delighted with him being the top dog. People tend to see that as being friendly. Chickens see it as being submissive.
This will either settle or go wrong. And to be honest, not much will depend on how you do it now. Now is rather too late in my book. He is not afraid of you, does not give you space, you see that as a good thing, he sees that as being the boss.
People really don't have that much influence unless you are living in the coop. A few moments in the morning and afternoon, really are not much time. Other birds have a better influence, and older birds often do teach proper society. I think you do get a better rooster with them.
But as for this, do report back how it works...but do have a plan B, one that is at hand, set up and ready to go. Sometimes the attack comes out of nowhere. IF YOU HAVE children - get rid of him.
MRs K