Love or Hatred

Its been a long time that I’ve been keeping this secret about my true feelings to my step dad, whether love or hatred. I live with my step dad for 6 years now since I was 22. My mother sponsored us here in north america when I was that age. Since then, I have a hard time to figure it out what is his true feelings about me and my brother. He is a kind person, sweet, and smart. He always wanted us to feel that “he is the man in the house”, and I hated that. I respect him but sometimes I do think that its not worth it to respect him because he is an ass****(sorry for the word). I could feel that he thinks that my brother and I are stupid. I remember one time that he even compared between us and his own kid,..that his kid(my stepbrother) is the smartest of all the three of us. And the worst part of that was my mother laughed so hard when she heard it when he said that in front of everyone. I hated them both because of that. However, I love my step dad for being understandable. I am not sure if he understands me really whenever I have problems to say or he just doesnt care about it. I dont talk to him most of the time. One thing is, he doesnt talk to you if you dont talk to him first. So until now we havent talk(really talk) that much often. Just say hi/hello usually. Am I bad? or what?

I wanted to talk to him about this feeling but I just dont know how to start?
His birtday is coming, I want him to go for a drink with me however I dont know whether it is a good idea or not.