How do you tell your friend he’s too judgmental, and that he should stop imposing his way on other people? The hypocrisy is too obvious, as you’d be telling your friend not to tell people what to do.
The other option, besides telling your friend what to do, is to lead by example. The trouble is that you’re not modeling a specific thing that you want him to see. It’s more like you are just being nice, and hoping he catches on.
And you never know, maybe you’re being overly judgmental yourself in thinking the way you act is superior.