My dad has a horse with this issue (the horse was a kicker before we got him, just to clarify). I hate dealing with this kind of stuff, so I don't mess with his feet.
Our farrier uses a soft lead rope on his back legs. He pulls the foot forward, sets it up on the stand, and trims. However, the horse can still kick forward, so the farrier is still really cautious.
For my young horses, I first rubbed a stock whip on their legs, then used soft ropes. Once they didn't mind the rope, I would apply a bit of pressure, and ask them to just lift the foot slightly. Then I got them used to my hands touching their legs, and finally asked them to pick up their feet with my hands, an inch at a time.
Personally, I would rather jump on a salty green horse than deal with an older one that threatens to kick when you work with its feet. I would suggest being there next time your farrier is out. Good luck and be careful.