Since I don't have kids, I can't speak from a parent perspective, but as far as my relationship with my mom, I know teenage years were probably the toughest. We were close, but then when she would switch into mom mode and tell me I couldn't do something, I would feel pretty resentful. As an adult now though I think those times were necessary - no one has good judgement 100% of the time at that age!

Anyway, I think it sounds like you're doing a good job of balancing being their friend and being their mom :)