Don't always turn your horse loose or put him back in his stall as soon as his lesson is over. Whenever you have the time to stay around, tie him up and let him learn a little patience. At first, he'll probably fidget and paw the ground, maybe even chew on his lead rope or whinney a lot. Let him. Don't pay any attention unless he starts doing something potentially dangerous like rearing or pulling back on his halter. If he starts being stupid, yell at him. I like to use a sharp "uh, uh!" It's something my horses learn from their first round pen session and they know it means "cut it out!" If he doesn't stop, make a sharp sound by clapping your hands together loudly, slapping something against a barn wall, or kick the side of your wheelbarrow. Startle him into looking at you. As soon as he looks at you, the stupid behavior will stop and you should immediately praise him in a pleasant voice. Then go back to what you were doing and ignore him again.
What if he refuses to stop when you tell him to? Walk closer to him and repeat your "uh, uh!" command. Do whatever it takes, short of hitting him, to make him listen to you. What if he stops momentarily then starts right back being stupid? Correct him again. And again. And again, if necessary. Probably he'll eventually stop and go back to fidgeting or pawing, which is okay for now. Those little annoyances will go away when he learns that they won't make you untie him any sooner.
If you have other horses to work, tie him up where he can watch. You'd be surprised what horses can learn by observing other horses. For example, by watching other horses driving, he'll start to accept that the cart isn't dangerous. As I tell my guys, "Horses all over the world do this everyday. Get used to it." Getting to watch other horses work gives your horse a chance to "get used to it."
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