Negotiating boundaries with a conflict avoidant advisor
We all initially learned boundaries as children by testing them individually and then receiving feedback when we crossed some imaginary line. You can learn your advisor's boundaries the same way - by generalizing rules based on specific interactions. Every time something comes up where it seems that your advisor is angry, ask him directly if x behavior of yours was a problem, apologize if necessary, and ask if he would prefer you not to do it again. As you do this over time you'll get a more solid map of what is and isn't acceptable to him. You already have the beginnings of one based on what you already know about him and the advice given in the comments, so you are off to a good start. 

(I'm assuming here that you've already tried multiple times to have a general discussion with your advisor about boundaries and it didn't go well. Depending on the situation, you might be able to arrange a meeting with your advisor to talk about the problem the way you would with a manager. Because he's your advisor, it would be best to frame it as you humbly seeking counsel from him on how he would like you to behave, rather than as a mutual problem for both of you to solve.)