>"I read him some of the short stories in Isaac Asimov's I, Robot. He liked these, but I could tell he was having a hard time keeping up."
Letting him finish reading anything on his own might take the unstated threat/insult of "you aren't good enough for the books your father reads" entirely out of the equation.
Again, if he doesn't like books, stop making him feel guilty for not wanting to read them.
The problem the OP has is his problem for having unrealistic expectations, namely that his son wants all the same things, and wants to do them the exact same way his father does.
Stop giving your kids neuroses, Slashdot.