Awwwwwww... - when the Commander's two young children ask to sleep in his bed after they have nightmares and slowly take up all of the room. He retreats to their bed and they follow him after they have nightmares, eventually falling asleep on top of him.
A lot of the Commander's other interactions with his kids are pretty adorable also.
The Commander's daughter wants a millipede. The Commander hates Millipedes, so he gives her a list of things to do before he'll give her the millipede, namely a bunch of research on how to care for them and several months of a boring tedious task. She follows through, so he gets her the millipede. Jonesy asks why he didn't just pull the Dad Card and say no, since he hates millipedes:
Commander: Well just 'cause I hate millipedes doesn't mean she should haff'ta.
While small in comparison to the other things the Commander has said, saying that he will still defend Chuck Norris' nondescript spacefuture freedom to say whatever he wants (including that said nondescript spacefuture has a stupid religion) is still heartwarming.
This moment◊, where the Commander (realising that Jared is useless as a fighter) tries to make him a part of the team (as the potion holder), is oddly heartwarming on The Commander's part.
Despite being the cause of the EldritchApocalypse, the Commander proudly acknowledge Jared and Jonesy anyways. The former for leading his men in his absence and showing he has a real presence over them, while the latter for being great towards his friends and family in the future and treating them as regular people. And admitting he was at fault as well.
Commander: Pretty good day all things considered, I'm proud'f us.
Another Commander-Jared moment, when Jared expresses a desire to get fit, The Commander acts as his personal trainer, giving encouragement like telling him he can be athletic without being a 300-pound musclebound hulk, to worry about his progress and not what others are doing, and in general building his self-confidence to get him past that initial wall.
As mentioned several times above, the Commander's relationship with Jared. It's clear through many of their interactions that the Commander is a more loving parental figure than his own parents, giving him fatherly advice and at one point comforting him after a hurtful phone call from his real father. What's more, his kids obviously adore Jared, and their interactions together are very much like that of an older brother playing with his much younger siblings. Even if his real family treats him like crap, Jared's loved and welcomed in the Lobster household.