Question about Imperactive Form

I have a question bout this form. As you know, every language don't use forms with same logic. For example, 'i love you' is Present Tense but '愛している' is Present Continuous Tense.

Is Imperactive Form in Japanese sound so aggressive? Or it can be used in daily conversations like 'come here bro' etc. Or does it feels correct or robotic? Thanks in advance.