Depends on how you define "ever." My son was pretty hard to raise when he was a teen. We couldn't motivate him to care about school, work or anything else that we thought was important. He never did anything seriously wrong, or dangerous, but he was pretty much a pain in the butt. He turned out to be a wonderful man, but not until he was ready to grow up. Unless your son is into dangerous or illegal activities, relax and give him time.
Raising a 16-year old, or any other teenager for that matter can be quite challenging. Each person is different, so you only need to work around your son's personality and you'll have an easy time with him.
It varies from one teen to another. We've all known kids who are still kids long into their 20s and beyond but most of them come out of it earlier than that. Try to relax and go with the flow. You're not alone.
I have to agree with Neanderthal. If you can't control the behavior of a sixteen year old, it's because you didn't teach him well when he was a lot younger. Behavior boundaries should be set early in a child's life. You hold firm with them,teaching the child that there are consequences if the boundaries are crossed. If this is instilled when they're very young, then you will have little or no problems with them when they're older.
Teenagers don't listen and behave. This isn't a sign that they aren't growing up, it's actually the opposite. He's growing up into an adult, and adults tend not to follow commands when they don't want to. Try to keep a good relationship with him instead, and treat him like he's a bit older and can make almost all choices for himself.