Tips for having a better relationship with my teen son?

My son is now into the teen years. We have an okay relationship. It's not terrible. I do wish it was better sometimes.

He's not a terrible kid. But he's at the age where he's pushing for more independence, challenging authority, can have an attitude sometimes/won't listen. Has really pulled back lately. Never wants to spend time with me. Says he's "fine", tells me very little about his life. I get it. I was a teen boy one day too.

I'm not saying I'm innocent either. I could probably be more patient sometimes. Maybe I'm too hard on him. I don't know. Trying to be objective here. Hard to find the right balance.

I just wish we were closer. Any tips for me?