Developing casual relationship with advisor
You stated a key point


  Perhaps this is just my personal preference, but I'd like to have a more casual relationship with someone that I see everyday and talk to everyday.


It could very well be that his personal preference to take time to foster the kind of relationship that you describe - it could also be a case of him not feeling comfortable have a casual relationship with his employees/advisees. There is no way to really know how long he has known the other professors that he speaks and laughs with.

You can not and should not force it. This is very important, some people recoil when people try and force these kinds of things.

To be honest, based on the conversation snippet, it sounds like he is not being rude at all, but just is focused on the task and on maintaining positive progress.

It is not a bad thing to have a strong working relationship - a polite and productive relationship is beneficial to many working relationships. I would suggest to focus on that aspect.