This incident did not mean that Jesus failed to show proper respect and submission to his parents, even though Joseph was only his legal father. He obeyed the 5th commandment perfectly, as he obeyed every other commandment.
Obviously, if the Son of God subjected himself to human parents, every other child should do the same. This was part of his example to mankind. Subjection is natural for a little child, because a child is weak, dependent, has less understanding than his parents. But for Christ this was not true. He understood many things that his parents did not grasp, and yet he was careful to be in submission and to humbly obey their commands.