I think your boss will get over it given time. He probably had a nasty shock and is still reacting to that with his ego chattering away in threat mode. "Is this a challenge to my authority." I can imagine that a lot of the men who I've worked with would just say to him "sorry buddy, mistake!" over a pint and that would be the end of it. Women worry more (huge generalisation) but I've seen guys do the "sorry buddy, mistake" routine successfully, and I'm incapable of doing that myself.
Can you tell yourself that mistakes are OK!!! As in, "I'm human and to achieve anything we are going to fall off the bicycle before we learn to ride it". Normal, no big deal.
Be pleasant to your boss, that's all you owe him. And know that one day if you are a boss, you may be put in the exact same situation.