In Dutch there is a word for authority that is not enforced with power but earned with respect, "gezag". It's a pity this is not a universally know word.
Discussion
Yes It's our bad luck šš
That is literally what "auctoritas" was in Latin. The power to command others without commanding them, just out of sheer social prestige. In opposition to "potestas" and "imperium" which were "enforced".