After watching Guardians of the Galaxy vol. 3, I've had a long and hard think about how Peter and Rocket's relationship was portrayed in the film and I think there is clear homoerotic subtext between them. For clarification, homoerotic subtext is when a close friendship between the same sex is portrayed similarly to a romantic one. Here is the instances it was implied throughout the gotg trilogy.
*Spoilers for Guardians of The Galaxy will follow*
When Rocket's life hung on the balance, Peter went to great lengths to save him. Throughout the film, he refers to Rocket as his "best friend". He blames himself for Rocket's injuries as he was drunk at the time and couldn't stop him from getting hurt. When Rocket laid flatlining on the bed and was near death, Peter didn't give up on him. He had hope that he would get out of this alive. He wasn't going to lose another friend. Peter had a heartbreaking, visceral reaction to watching Rocket die before him. He needs Rocket more than anything. He is the one that holds him together even in his darkest moments.
When Rocket comes back from the afterlife, alive and well, Peter hugs him tightly along with Groot, showing how much he cares about him.
Peter and Rocket share the same interests in music. They both share ownership of the zune. Rocket can be heard singing along to the music like Radiohead's Creep in the vol.3's prologue. He has formed a special connection to music the same way Quill has had. The connection is utilised when Quill nearly sacrifices his life to get the zune back for Rocket. "I got this back for you" is a very powerful message. Music is the thing that brings them together and makes their bond stronger. His love for Rocket made him get the zune back. It was all in the name of love.
When Peter is away, Rocket would listen to his music as a way of remembering him and to feel that his presence is always with him. Rocket may love to make fun of Quill, but he is everything to him.
Peter and Rocket would argue about who was captain and bicker and throw insults at one another constantly. It was what made up most of the tension between them. They are like a couple arguing, with unresolved sexual tension they choose not to deal with.
Peter has lost so much in his life that he has become a shell of a man. Rocket is scared of losing people and desires to push people away. He blames himself for losing his friends all those years ago and can't bear to lose another. He is scared of disappointing them. They both understand these flaws and help each other work through it.
When the Guardians were in the Kyln Prison in Vol 1, Rocket wasn't afraid to defend Quill from those who desired to kill him. He was his bounty and if they wanted to get through to him, they had to go through him and Groot.
In Avengers Endgame, Rocket wore Star Lord's scarf as a mark of remembrance after his captain was dusted.
Rocket comes to pull Peter out of his drunken state. In that dark period of his life, when he was mourning Gamora in a unhealthy way, Rocket was the only one that was there for him. He took him out of that dark place and was there for him every step of the way.
Peter appoints Rocket captain and leader of the Guardians of the Galaxy at the end of Vol. 3 because he sees so much of himself in him. He has so much respect and honour for the raccoon after everything that he went through, that he needs someone who can protect those who can't fight for themselves. Those who were once in Rocket's position.
In the mid-credits scene, when Rocket and the new Guardians talk about their music tastes, Rocket introduces the team to the song "Come and Get Your Love" by Redbone, a song that holds a special place in his heart because it was Peter's favourite song. The way he talks about the song prior to playing it is quite melancholic because it reminds him of Peter. Now that he's gone, he misses him with all his heart.
My personal headcanon is that Rocket had feelings for Peter, but was too angry and stuck in his ways to admit it. When he was drunk, It hurt Rocket to see Peter in such a dark and depressing state. When Rocket gets hurt, it spurs Peter into action and it makes him realise how much he cares about the raccoon.
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