I see that a lot these days. My parents had no intentions of being friends with me. They laid down the rules and expected me to follow them "so long as I lived under their roof" - that's verbatim by the way.
I joined the Marines at 18 and my brother joined the Navy when he was 18. We both got the hell out of there. Only we found out that the military had FAR more rules to follow - and they did not love us like parents do. My sister was stuck there with them until she was married but followed all their rules in the meantime.
Over 40 years since leaving the nest and I remain on very formal (but amicable) terms with both my parents. I respect them. I have earned their respect. But we are not "buddies" in any way, shape or form. When I go to visit them, I do not want to make either of them angry with me and get myself grounded or something!
I was never “buddies” with either of my parents. They’re both gone now and I miss them terribly. That old saying “the older I get the smarter my old man gets” certainly applies to my father...and my “old lady” (mother) as well.
You were very fortunate to have caring parents, although it can be hard when dutiful parents rarely salt it with affection or enjoyment (speaking from experience). But if I had to choose between reasonably strict but decent vs liberal but irresponsible, I'd choose strict but decent again.