The best rooster is a friendly one. The next best is a skittish one. If your rooster displays aggressive behavior toward you, there are a few ways to put him in his place. A lot of people here use 'corporal cuddling,' meaning they make a point of picking up, holding, and petting the rooster every day. This reinforces that you are in charge of him in a positive and humane way.
I'd advise against violence unless the rooster is actively attacking you. If that is the situation, cull and replace him. From my own experience, temperament is at least partially genetic, and an aggressive roo may pass it on to his offspring.
A truly friendly rooster is very rare. They are not hens. So long as he lets you handle his girls and keeps his distance, I wouldn't worry about him.