My four horses all know their names - so did the horses I had before them - I just use their name a bunch when I'm around them (simple names - no more than two syllables or then I give them a nickname - if their registered name is too long).
I also say their name when I'm mad and yell at them, too, LOL! They will pick it up with repetition. When mine are out in the pasture, I can call out a name and that particular horse will pick up its head and look for me (the others don't care and act like they aren't listening) and if I motion with my arm for them to come, they will. That helps too, a big 'come here' arm motion. At least for my guys.
I also have a 'group' call (it works for my dogs, too!) - if I say 'HERE BOYS', they will all come galloping up. If they are crowding me and I yell 'GIT' they will all scatter and buck and acts like idiots (it's a game) but it is also their clue to back off and give me space (I feed and throw hay in flip flops all of the time) - because they are always in my business or trying to pull my ponytail or bite my shoes. My horses are very much pets, obviously!