Yes and no. Sensei is the most commonly used term for higher authority. It doesn't have to just be teacher. Shifu is definitely not the term though. I'm Chinese myself so I know for sure.
^ what? No, the Japanese have a separate term for addressing family members. Asians are complicated when it comes to this stuff.
LOL Hmm…I'm not sure bout that. I just know Sensei is the common term for addressing higher authority and Shifu is the term in Chinese.
For sensei its more used in defining a teacher while as senpai is for someone that's a little older than you and giving respect