No, you child will not always lack socail skills. These must be taught to them. Getting him into counseling should help both of you. He will learn coping skills and you should learn how to help him and how to identfy these dangerous situations. He has only had a year of help, and he has had 7 seven years of negative feedback on his behaviour. Rome was not built in a day, Rome was built brick by brick. You need to help him find his bricks to build his city.
Let me tell you what it is like to be ADHD. It is like living on a fast moving train traveling at full throttle. The rest of the world is a blur as you travel across the country and you can not find the brake to slow you down. There is tremendous guilt for being bad and not like the other children, when it isn't your fault.