What can I do about a neighbor continually speaking to my minor children and threatening them with the police?

My neighbor and our family have a long sordid history. He does not like the fact we rent and are not the owners of the home we reside in. He constantly makes up "rules" we are breaking and then threatens my children instead of speaking to myself or my husband as we have asked numerous times. If they are truly breaking rules we want to be aware so we can take care of it. He insists on continually doing this. Do I have any legal recourse? He is an adult my children are 16, 12, and 9.