As the mother of three boys, I know exactly what you mean. Yes, they sound perfectly normal, and no, they don't hate you.
Mine are older (my youngest has just turned 17) but close in age like yours, and I experienced the same thing as you are going through now. They all went through a stage at around 13 or 14 where they were quite difficult & challenging at times. The good news is that eventually, by around 17 or so, they turned into nice young men who actually didn't mind spending time with their parents and weren't embarrassed to be seen with us, believe it or not. They don't hate you at all, they are just doing what teenagers have to do as they grow up, and of course, they know exactly which buttons to press because they know you so well.
I hope you don't mind if I pass on a few tips of what helped me get through the teenage years. Feel free to ignore!
I never bothered too much about the mess, just picked my battles and concentrated on what was really important to me. I didn't care about the state of their bedrooms, but made it clear I expected them to bring any mugs or plates to the kitchen every day, and empty their bins and change their bedlinen once a week.
It was hard to get them away from screens it still is and even harder to get them to go out of the house. I think a lot of them socialise that way these days. The ground rule in this house is no screens until homework is done, and on a school night they have to be off well before bed time. I found negotiating with them on decisions so they felt involved helped quite a lot.
DS2 was a nightmare for wanting the last word & I had to learn to bite my tongue and ignore. Very difficult for me! Just pretend you haven't heard and don't react. DH caught me in the middle of a huge argument with DS2 once & just said to me 'who is the adult here?' which made me think about how I was handling situations.
My DH is very wise and has a great way of getting teenage boys to do jobs without too many complaints. Ask them once, tell them precisely what you want them to do and when you want it to be done by, then leave them to it and don't mention it again until the deadline has passed. If it hasn't been done by then, remind them. It means they don't feel 'nagged' and they are more likely to comply. I've also found writing a list of jobs, leaving it to them to decide between themselves who is doing what and letting them get on with it works well. First to the list gets the 'nicer' jobs. A bit of financial incentive always goes down well, too 