I know that it is something that many in this day and age have a hard time with, including myself. It seems like it is seen at best a kind of necessary evil we tolerate, but dont really care for. I would say that we have two popular definitions of authority. A) Someone who for whatever advantage they have claim the entitlement to have power over others, and punish those who dont obey, or B) Someone who has shown themselves knowledgeable about a certain matter and has proved themselves trustworthy, and therefore someone worth listening to.
Today, the first type of authority is what most people have a problem with, and for good reasons. As no one wants to be lorded over, and coerced against their will, let alone threatened with punishment. Plus authority can be seen as degrading, in the assumption that someone elses will is superior to others, or that the authority in question knows whats best for other individuals than the individual themself. Then, people feel others get into authority through illegitimate means, like wealth, brute bodily strength, charismatic persuasion, or having some military might.
I find that the problem we have in relating to God as being in authority is in thinking of God as one being amongst others, and just so happens to be the most powerful being, and therefore has the full right to decide how things will be, based on pure might and lordship alone. This seems like the basis of the hardcore Infernalists. This has lead me to wondering if we are trying to understand the Authority of God in an ultra rationalistic way. As in a kind of looking at God as one power amongst other powers, but happens to be the first and most powerful power, and sole owner of creation, and therefore entitled to act however barbaric he wants to towards his creation.
However, this view of authority seems to match of God in a crude fashion. As traditionally understood, God is the source of all existence, and essentially the sole definer of what is good and true. But not some arbitrary choosing of some petty preference, like some earthly petty control freak who claims the right to tell people what is good based on their own preferences.