I think he is either afraid of you, or doesn't respect you, or possibly both.
I suggest you attempt to train him and prove your dominance. He is part of your pack, but he is at the bottom of the social order.
A good method is to try taking him for a walk.
Put him on his lead, and then walk with him. But keep the lead tight and close to yourself. Walk at a leisurely pace, but pull him back if he runs ahead of you. He should walk by your side, or slightly behind you.
If he's a strong dog, I suggest you try getting a
head halter. They're completely humane, and they prevent a dog from pulling away from you, as a dog leads/pulls with his head/nose.
Honestly, I would suggest you go on YouTube and watch a few episodes of Cesar Milan's Dog Whisperer.
He gives some really good advice, and most of his methods worked well when we were training our dog.
And he's covered training lots of different dogs with different issues, whether it's them growling at their owners or fearing them.
A lot of the methods do require you maintain commitment to training your dog, however. It's no use doing it for just a couple of days, because they'll revert back to their normal behaviour.