This particular verse and other verses have always been targeted for the purpose of accusing Islam as being violent and ordering Muslims to kill disbelievers.
I have an online lecture I delivered a few years ago, addressing this verse, and in shaa Allah it will benefit you in giving a comprehensive answer to this question:
We can pray for non Muslim parents, relatives and friends who are still alive, to Allah (SWT) to guide them to The Right Path and enlighten their hearts and minds with the light of the Truth.
For those who passed away as non Muslims, we can pray to Allah (SWT) to deal with them with His Mercy.
We are not allowed to seek forgiveness for those who insisted and died on Shirk (polytheism) as we read in Quran, Sura Tawbah, verse 113: It is not proper for the Prophet and the believers to seek forgiveness for the Mushriks, even though they be of kin.
Allah (SWT) knows the future of every one, and He has The Absolute Wisdom and Absolute Mercy. He ordains (when and how and where should be) the birth of every human being . No one will face any injustice because of others. Allah's Mercy is on and for all and every one will enjoy Allah's Mercy and Justice. Those who were born in Non Muslim families will never be punished because of that, but will be given plenty of chances to know the truth and full ability to decide and follow.
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