He's got in his head that I hate him, and no matter how I try to approach him his dander gets up and it ends up confrontational.
If you were very critical of him, then he probably feels that you don't love him FOR WHO HE IS. On a conscious level, I knew that my mother didn't "hate" me, but I never felt that she loved me or even liked me some times. She was very critical because that's the way she is, but even more so because I wasn't like her.