Being a parent is not easy. Your parent(s) probably annoy you, upset you and embarrass you from time to time. I know if you asked Sophia she'd say the same about me.
But here is the thing: every (EVERY!) parent wants to be a good parent. Every parent loves their child(ren) and wants them to be happy.
But every parent is also a human being who makes mistakes, who struggles, who fails. So have some compassion for your parents. Though they may do stupid, ridiculous, even mean things from time to time, it does not undermine the fact that THEY LOVE YOU. Always. They may not always show it (in your eyes) but your parents want nothing more than for you to be happy. And safe. And healthy. And successful. They want the best for you.
Wait until you are parents. Only then will you truly be able to see what I'm speaking of.
Anyways, "Happy Birthday Sophia! I love you (and am sorry for embarrassing you by writing this here)"