He freed himself from the Emperor's influence and from the dark side. I don't know how to explain it better than that. It's more of a symbolic "freedom." As for your second question, I certainly do consider Obi-Wan a loved one and as for the Lars and Organas just because Vader didn't personally kill them doesn't mean he isn't partially responsible. He ordered those stormtroopers to recover the droids at all costs and he stood by while Alderaan was destroyed. But this is a moot point anyway because I was referring to the next generation when I talked about forgiveness and was referring to a more symbolic forgiveness then an actual, "Hey we forgive you grandpa."