Hoof problem...

If he isn't inclined to be a kicker, my favorite way to say "I need your hoof, NOW" when the horse is being a jerk like it sounds like he is being, is to sharply tap the horse right under the fetlock with the hoof pick (of course, if you have one of those sharp hoof picks, don't do that). Usually the horse will pull the hoof right up and you can grab it. I've found that generally I only have to do that once or twice before the horse decides to skip that whole step and pick up his/her hooves when or before I ask.

I ask first and when I get no response, I demand it.

Good luck! :)

^^ This.

When I got Claymore he sucked for picking his feet up. He did have some foot issues, but this was more a lack of respect issue, he just didn't want to and knew I couldn't muscle him. I use the back of the hoof pick (not the point) and tap him on the fetlock progressively harder until the foot comes up. In the beginning, he'd see me coming with the hoof pick and actually shift his weight onto the foot I was closest too to prevent me from picking it up. At first I'd have to get to the point where I was giving him some fairly solid whacks before that foot would come up. But doing it the same way every time - now he picks up his feet each in turn and holds them up before I even bend over.

Thanks for the advice everyone. This morning he had some poo wedged in his back left hoof, I just needed to get it out. So I picked his front feet out and it was almost as if he knew that he would feel more comfy after I did it because he picked his foot up straight away for me. I think maybe to do with him not having any food to distract him (as I was just about to turn him out). So this morning he had all four hooves done :)