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Percy’s had a complicated relationship with his dad since conception. Pretty much all demigods do. He doesn’t blame his dad entirely, but it is hard not to put any blame on him.
He’s always found it difficult to accept that his father loves him. After all, what kind of dad just abandons their kid with no contact, only to show up years later and say “Surprise! It was for your own good!”?
Okay, Percy gets it. Monsters and Gods and Titans and more, oh my. It still doesn’t feel like a great excuse.
Poseidon doesn’t try to win over Percy’s love, though. He recognizes that isn’t the way to earn Percy’s trust, nor his affection. They’ve got a mutual understanding, in some ways.
But Percy’s still a kid. He still craves some kind of… bond with his dad. With Poseidon. Even after going on so many quests, Percy still feels like it’s… lacking. Demigods’ relationships with the Gods are strained at best, or end up like Luke’s at worst.
Percy stares up through the water, sitting at the bottom of a pool. The water may be Poseidon’s domain, but Percy has always felt a stronger connection to it past that.