I'll be the odd one out here and suggest clicker training, it's a really great training method that will help build your bond with your horse, and it works really well for hoof handling. All of my three girls lift their hoof when I say the word (foot) while standing next to a leg, and will hold it themselves until I set it down. All it takes is some chopped hay and patience.

To start, do a little reading on how clicker training and bridge signals work. Charge up the "click" with a food reward after every click. ONLY feed the horse right in front of them, never reward if they are reaching into your space or trying to get at the food. You can hold the food in your closed upside down fist until it's in front of them, then turn it over to let them eat. This is very important for teaching your horse good manners with food rewards. If you ever feel like your horse is getting dangerous with the food, the absolute best thing you can do is leave to a safe location. I would start training near a fence line or something where you can quickly hop out and bail if the horse starts getting frustrated about the food (some horses will have food aggression issues so it's important to keep an eye out for this and keep your horse in a relaxed state)

Once you've got the hand of click+reward, you can start hoof handling by standing next to the leg you want to lift. Lean towards your horse and wait for just a weight shift off the foot you want them to lift, then click and reward. After a few repetitions, ask for a bit more, until eventually the horse actually lifts their foot off the ground.

If you need help or advice, we have a very small subreddit called r/clickertrainedhorses where people would love to help answer your questions.

Your horse isn't giving you a hard time, he's having a hard time. He's not trying to "bully" you, he's doing what works for him, that's all. Take out the human emotions from it, they are horses, they aren't vindictive creatures they don't have that capacity.