Sasuke wanted to protect Team Taka because they reminded him of the warmth of being a part of a team, a similar warmth that he felt when he was with Team 7, meaning that in truth, Sasuke enjoys having teammates watch over him and who will watch his back, as he in turn protects them.

The general broad overtures of this scene are obvious: Sasuke's recollection of Team 7 here tells us that, despite all Sasuke might do and say, Sasuke still cares about and values the members of Team 7. Apparently he values and cares for Team Taka too, because Sasuke goes the extra mile to save his new motley team, pushing past his limits to save them despite his great exhaustion. Sasuke ruminates on how Team Taka reminds him of his old team, and that inspires Sasuke to protect his team. These feelings trigger Sasuke into figuring out his Amaterasu power, using it for the first time out of his desire to protect his team, because Sasuke does desire to protect his team. That is what Kishimoto is showing us about Sasuke's feelings for his teammates here with this panel.

If Sasuke didn't care about his team, then Kishimoto would've written a completely different scenario, such as after Sasuke remembered Team 7, he was reminded how unpleasant and restrictive bonds with others were. If he hated his connection to Team 7, he would've ditched Team Taka and left them to their fate, with a "screw you guys, I'm outta here" exit. You know, basically what Sasuke does to Team Taka in the subsequent Land of Iron arc. But that isn't what happens here.

Instead, Sasuke is so inspired by his teammates' efforts to protect him that he figures out how to use his Mangekyou powers for the first time and saves his team.

On the surface, the implication of the moment when Sasuke recalls Team 7 is straightforward: Sasuke still values Team 7, and he is starting to value Team Taka too, showing that despite his attempts to sever his connections with others, he is still very much connected to others, both to his old friends and he's starting to forge new connections with his new team as well.

While the surface-level meaning of this is clear, the topic gets complicated the moment you try to probe any deeper. What exactly about Team 7 does Sasuke value, exactly what emotion does Sasuke feel for Team 7 that he is feeling about Team Taka now too? Precisely what feeling is it that inspires Sasuke to push his limits to protect another person like he used to do for Team 7?

I think this shows Sasuke's desire for interdependence, or mutual reliance. Before Sasuke was a loner at Orochimaru's place, Sasuke was part of Team 7, making it the first time since his parents' deaths that he'd had comrades he could rely on for strength.

Additionally, the fight against Killer B is really Team Taka's first battle together. Sasuke had fought Deidera and Itachi alone, and while the team had previously been in fights, they hadn't really fought together. The fight against Killer B is Taka's first fight as a team, and their teamwork is impressive. The four of them coordinate with each other's abilities pretty well for never having trained or fought together, and each member of the team steps up and contributes a part in this battle.

Team Taka had aided Sasuke some before on his hunt for Itachi, but this is the first time they prove their loyalty to Sasuke by putting their lives on the line to protect him and the team. This is quite different from mere assistance, since it was a test of the team's true commitment to each other. Despite Suigetsu's constant complaints about wanting to leave the team and Karin's constant argumentative shouting at her teammates, when push comes to shove it's impressive how loyal the three members truly are to their team and to Sasuke. All three rose to the occasion to make sacrifices to protect their comrades, even though they could have easily ditched the fight the moment things went sour.

After all, this isn't even Team Taka's fight nor do they get any personal gain from capturing Killer B other than to assist Sasuke, the man who freed them from Orochimaru's prison and control, assuming they even feel indebted to Sasuke for their freedom. Sasuke had even directly told them at the beginning of the fight that they could leave any time they wished. Meaning that their loyalty is completely voluntary and they don't even have to stay to fight if they don't wish to, nor does Sasuke even expect them to.

Yet despite the danger, Taka sticks by their leader's side with adamant devotion, each of them not hesitating to protect each other. Suigetsu and Karin may complain about the team, but when push comes to shove, each member of the team is looking out for each other and concerned about the other's welfare.

Sasuke is touched by his teammates' drive to protect and defend him, each making sacrifices to do so, and they inspire him to figure out how to use his Mangekyou Sharingan ability for the first time so he can protect his team and get them out of their bad situation.

Sasuke is enamored by the concept of teammates who are watching his back just as he is watching theirs. It's mutual reliance: Sasuke isn't alone; he has people who care about him and are protecting and looking out for him.

And it's this mutual reliance of a group that triggers memories of Team 7, because back then, Sasuke wasn't a solitary individual, he was a part of a team, and he had the protection and mutual dependence of a group. His team was protecting and caring for him, just as he was protecting and caring for them. Sasuke feels this again with Team Taka, as Karin, Jugo, and Suigetsu all in their own turn make sacrifices to help Sasuke, and that's when Sasuke realizes it is now his turn to step up and make an effort to protect them.

If I was to use more specific parallels of what similarities Sasuke is drawing between Taka and Team 7, the scene would probably look something like this:

There's a parallel of the mutual reliance between Sasuke and his teammates and how his Team 7 comrades selflessly put themselves in harm's way for his sake, just like Team Taka is doing now.

I don't think Kakashi specifically takes special importance to Sasuke in this moment. In fact I don't think any one person shown here is taking primary importance between Jugo, Suigetsu, Karin, Sakura, Naruto, and Kakashi. Sasuke's recollection here is about team unity of the group as a whole, not focused on individuality or any particular individual. Teams are about every member pitching in and being an essential component. Sasuke doesn't notably exclude Kakashi from the team dynamic, so Sasuke hasn't 100% devalued Kakashi's role on his old team by this point of the series. He still treasures that feeling of protection and mutual reliance that his team once gave him, and Kakashi is still a part of those feelings. To have comrades that willingly sacrifice themselves for him is something Sasuke treasures and is grateful for.

This moment shows that even after all this time and after everything he's done, Sasuke enjoys being a part of a team more than being alone, which is why he doesn't want to see his teammates die. While he may have openly rejected his teammates, his innermost feelings tell a different story, because he still treasures and values the mutual reliance of a team and the notion of having friends who will selflessly sacrifice themselves for his sake, and this longing to be connected with others as part of a team is an intrinsic part of himself that he can never completely deny. It's so deeply rooted that it's essentially instinctive.

Though he may often try to deny it and run from it, Sasuke values people who put their lives on the line to protect their friends, which is why it's a sentiment that he wants to reciprocate. And so after his team protected him, he returned the favor by pushing beyond his limits to save them from Killer B.