Erik Robles

It's so true what you say, Kevin. It's all psychological. I still suffer from constriction from time to time as my mind gets in the way and my body interprets the coming note as a "high note".  If I remember to step back and use my prominent leg and backside muscles on the higher frequency, it tends to help a great deal as it takes my mind off the "high note" and mentally changes it to what it really is: tilted T.C and thinner chords. The results are amazing once I remember to take the thought of the high note out of it. 

[Constriction and "choking" can also be a protective reflex. If the body detects that the pressure or airflow at the throat is unhealthy, it says, "forget the singing" and reflexes to shut off the problem. Just like your "blink" reflex, it is not a good idea to try to simply override it psychologically. You need to address the thing that is causing the reflex. For singing this is likely to be something like inadequate breath support.]
Anyway, back to the OP. Decent vocals, imo.
With proper diaphragmatic breath support, your voice will glide effortlessly straight over the passaggio, and you will get that responsiveness and agility you are looking for. I notice in classical training techniques that they make a big deal out of breath support (probably coming from traditions of singing without a mic), and relatively less of a deal about the passaggio (even though the term comes out of that pedagogy). Once you are able to employ a good diaphragmatic breath support method, .like appoggio, the passaggio is no longer a big challenge. It gets "fixed" almost automatically.
Add that to the fact that you are able to siren up to G5 (wobbly, but an impressive foundation), I think you can really take your vocals places. 
Yup, I am not a coach. Just my personal take. 

It's so true what you say, Kevin. It's all psychological. I still suffer from constriction from time to time as my mind gets in the way and my body interprets the coming note as a "high note".  If I remember to step back and use my prominent leg and backside muscles on the higher frequency, it tends to help a great deal as it takes my mind off the "high note" and mentally changes it to what it really is: tilted T.C and thinner chords. The results are amazing once I remember to take the thought of the high note out of it. 

spc3c...,
Excellent composition! Great style and arrangement, good air play material, catchy hooks, lots of melody! Very good musicianship!  Your voice is very marketable as well! Reminds me a little bit of Tyler Joseph (21 Pilots), maybe a dash of Matt Shultz (Cage The Elephant)!  I like it a lot! 
When you sing the lyric, "with no place to go home" - Sounds to me like you're singing with good connection in the lower realm of your head voice!  Double check with a coach, but I'm fairly certain. I would predict that with just a couple months of committed training with a good coach and training system, you will sing much higher!
You should check out Robert Lunte's Youtube channel and search for lectures on the subject of Baritone's singing high notes.  Lot's of good solid facts that will power you up with confidence about the reality of expanding your range to include notes more common to a tenor. The truth is, you'll learn in those videos that vocal "Fach," (Bass, Baritone, Tenor, Alto, Soprano) are essentially a distraction in vocal training. Proper training leads to expansion of range, coordination, strength, respiration, and also, confidence, projection, release of tension, vibrato, distortion, . . . . the list is long! The point is, it takes work in the vocal "gym" so to speak, that being vocal workouts that bring the above mentioned qualities to your singing voice.
Are you training? Do you have a vocal training program or a coach you are studying with?
It's never been more affordable than today!
peace,
k