What kind of relationship did the native Americans and the Europeans have during the age of exploration

Well, a very bad one.

The Europeans wanted the land of the Americans, and the Americans wanted to defend this land. The Americans were also probably more scared, as they didn't know where the Europeans came from, and Europeans were feeling superior to the Americans, as they had more advanced weapons and they believed their religion to be the only trueful one (there was even the belief that native Americand didn't have a soul!)