I think you need to separate the behaviour from the person.
I love my two teens to distraction. I don't always like their behaviour (though to be fair they seem to be angels in comparison with what I read on here).
I try to not make it personal when pointing this out I.e. "That behaviour is unacceptable" rather than "*Your behaviour is unacceptable".
We aren't a huggy kissy family, but I know they know they are loved. You can love someone and still not like how they behave towards you.
Having teenagers has been the best bit of parenting for me, I love seeing them become adults, having proper conversations and disagreements because their views no longer mirror mine.