Take a Trail Ride
Depending on the circumstances of what land is available for you to use, I recommend going out on a nice trail ride and let your horse go freely. Don't be too worried about having a perfect riding position as long as you and your horse are comfortable. Then you horse is far more likely to want to canter out smoothly and calmly. Just be sure that, if you haven't done much trail work before, you are always in control and that your horse is listening to you so that it knows when to come back to being quiet and controlled in the trot and walk.
If your horse doesn't go straight into canter the first time round, don't fuss with all the kicking and pushing, just come back to trot or walk and continue on the trail until you come to another suitable spot for canter and have another go. Remember, horses have an excellent sense of direction and they are usually very willing to go at a faster pace on the way back to the barn or in the homeward direction.
Going out on a trail ride can be pretty lonely if you go out on your own, so take a friend or a more experienced rider with you, just in case you find yourself in any trouble. Just remember to make sure that everyone (both horses and riders) are happy with their position in the group. For example, some horses will prefer to be in the lead so as they feel that they don't have to race anyone, while another horse may prefer to be at the back if they are slightly slower so that they are not holding the entire group up. You also need to make sure that you are aware of the position where the other riders are. Many horses don't like being overtaken, particularly in canter or even trot.
Good luck with your canter work,
Riding: The art of keeping a horse between you and the ground.