I think Rumpel does not yet think of Emma the way she does him, as family.
He doesn’t think of Emma as family the way he does with Bae, of course.. but he has put his trust in her. With the whole dagger bit after her “start your trust with family” speech.
I think Rump has always had this bit of respect for Emma. Even before the curse. He has no qualms manipulating her seven ways to Sunday, but he definitely has a respect for her. He doesn’t scare her, and she doesn’t take his crap and doesn’t mind giving him a piece of her mind even if she does know he’s some powerful dude. And I think he respects that because he hasn’t encountered many people like that, if at all, since he became the Dark One who isn’t in his “safety bubble” (Bae and Belle).