This could be a challenging friendship. Your differences as individuals will create problems, as will your friend's tendency to criticize or control you. You'll feel as they're challenging or even trying to diminish your individuality, who you are as a strong, vital human being.
This will create some tense moments, and your self-esteem could take a hit if you let it. The important thing for you to do is to rise to the challenge. Use your pal's criticism to make yourself a better, stronger person. Instead of letting them be an authority in your life, develop your own inner authority. You're learning the fine line between self-reliance and dependence. Of course, your friend needs to acknowledge your growth and try to be less critical. With effort on both your parts, this friendship can become a source of strength and stability for you both.