My 5yr was REALLY Rude and kept on rearing inhand when I asked him to do something.
Try just setting a few boundaries like don’t come into my space at ALL TIMES (you may only walk into his space). Try also making “park” a thing where if he moves without you asking he gets a tap on his cannon bone (with the handle of the whip) to step back. This REALLY helped me with my horse. Also not too much mushy cuddling (I HATED this one but it works, you can start cuddling again once you are confident with his manners). Also if he pushes you with is shoulder shoo it away and if that doesn’t work then give it a bit of a tap with the whip.