You don't always have to use force to get a horse to move. My Western Pleasure horse is propelled purely by my weight shifting in the saddle. If I put weight in my right leg he goes right. If I shift my weight backwards he backs up, you get the idea. My horse loves to work. I hardly think he would come running up to me in the field if he didn't enjoy the work I give him.

Sometimes you have to show them who the boss is, but it doesn't mean they are miserable the entire time. After a good training session my horses get groomed, alfalfa treats, bucket of grain, and a cozy blanket.

I'm probably talking to a brick wall though, sounds as if you think horses should get fat and lazy sitting in a field their whole lives.