We report direct atomic-force-microscope measurements of capillary force hysteresis (CFH) and relaxation of a circular moving contact line (CL) formed on a long micron-sized hydrophobic fiber intersecting a liquid-air interface. By using eight different liquid interfaces with varying solid-liquid molecular interactions, we find a universal behavior of the asymmetric speed dependence of CFH and CL relaxation. A unified model based on force-assisted barrier crossing is used to connect the mesoscopic measurements of CFH and CL relaxation with the energy barrier height E_{b} and size λ associated with the surface defects. The experiment demonstrates that the CL pinning (relaxation) and depinning dynamics are closely related and can be described by a common microscopic framework.