Is this horse gelded? If not, do so asap.
Have you owned him from birth/weaning? How much real ground training has he had? He should have had a great deal by now and respect your space and you. It sounds as though he considers you a playmate/sibling and not the alpha in his life. Does he do this just with you or with other humans?
When does he do this? When you are trying to catch him? Walking through the pasture? Or ??
Has he been very much a 'pet' and spoiled during his life? Have you or someone else, actually played with him in the past, when he's loose. By that, I mean running, dodging etc.
What do you do when he does as you've reported?