I've never been one to encourage children to 'respect authority,' nor was I raised to. I was raised to question and challenge authority. That doesn't, to me, mean kids or anyone else shouldn't be polite, work within the rules that exist (to the extent possible, unless the rules are themselves the problem, etc.), use the framework to change things within it, etc.
I think this is an important distinction. Challenging and questioning authority is not the same thing as being rude, refusing to follow rules, or doing whatever you want without recognizing any authority.
Part of learning to deal with conflict is learning how best to react in different contexts.