No relationship is perfectly ideal, but some relationships definitely are more positive than others. In a positive relationship we work together to afford each other the best of living, and in an abusive relationship one person takes advantage of another rather than help that person live a good life.
As a mom, it is my goal to have as positive as possible relationships with my children. At the center of that aim is my desire for each of my children to live positive lives that bring them happiness--lives where they are good to themselves and good to others, and lives where they find paths to live in ways that are true to who they are, what they love, and where they want to go in life. I have no strong feeling about what my children's lives should look like with the exception of the desire that they live good lives for themselves and others.
In general, I want to be a help and good companion to those I love, not a hindrance or harm to them. What does that look like?
People of good character, typically are the kind of people who have good, positive relationships with others. So, if we want good relationships, we will work at having good character--character that exemplifies the elements in this grade-school chart:
So if we continually work on ourselves and our character, we will be better able to foster positive relationships with all that we love, live with and work with. Onward.