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If you kick a sensitive horse you would find yourself on the ground and fast. When you ride you squeeze as pumpkin said. You use your thighs and calves to put pressure on the horses sides and your leg should always be in contact with the horse's sides. Kicking would require removing and reapplying your leg. Have a friend/instructor push on your leg around the horse at a halt and you'll see what it should feel like.
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