Authority is always given, never taken. That’s pretty much immutable.
Father could claim authority in my life in his role as my creator, but he doesn't. That's what free will is about: he gave me the right to choose whether he will actually be my Lord or not, and it’s a choice I need to keep making, not a one-time, set-it-and-forget-it choice.
Civil government assumes (correctly) my submission to its authority by virtue of the fact that I choose to make my home within the boundaries of its authority.
Nobody else has the right to claim authority over me, though some may claim power over me (e.g. incarceration).
I can and do choose to submit myself to other authorities in my world. I have submitted much of my will to my bride with the simple commitment, “I do.” I have a pastor (not in position, but in fact) to whom I submit this: I will always listen to his input, and take it seriously, but I do not delegate my decision-making (my will) to him.
Similarly, I have invited a few others to speak into my life, though not all of them know it. However, if someone assumes that they have authority in my life, that generally disqualifies them to speak into my life. If they insist, we’ll have a blunt conversation. I am the one responsible for me. Only I can exercise my own free will, regardless of theology or psychology or civil law. The best they can do is either a) counsel me on *how* they think I should make my choices, or they can make their own choices for how they will respond to my choices (e.g. if I drive drunk, they might choose to incarcerate me), but they cannot make my choices for me.
I’ve had a goodly number of folks come into my life for the sole purpose of assuming authority over my life and my choices. I used to submit to that process, but giving away my free will has never worked out well in my world. And it insults my beloved King if I despise (= “to treat as unimportant,” e.g. by giving away) his precious gift of free will.
In my opinion, this is one of the greater obstacles to the western Church, and one of the greatest problems in many western nations, particularly my own: individuals giving up their responsibility for our own lives, choices and circumstances.
The current buzzword for the process of not taking responsibility for our free will is “entitlement,” and it’s a doozy. The sense of “It’s not my fault!” is pretty epic right now, and it’s often accompanied by either “…therefore someone should pay me for it!” or “…therefore I’m powerless!” or pretty often, both.
So much gets resolved when we merely accept responsibility to make our own free-will choices.