We tie them solidly until they relax and like it. If that takes 5 hours a day for a week --- so be it. I have never seen one that did not finally settle down, relax and cock a hind foot. I have done this with horses off of the track, spoiled buddy sour horses and downright mad horses. They ALL give it up if you don't give up first.
I like tying one from a rope or chain fastened to a tree limb but that is not where I groom, saddle and handle one. I want that to be a smooth safe place where I can actually control the horse. We have several 200 to 400 barrel oilfied tanks that now hold grain and 2 tack rooms. They are slick and smooth. We have welded horseshoes 7 feet above the ground and have nylon ropes with 6 inch bull-snaps fastened to the horseshoes. The nylon ropes are attached to the horseshoes with quick release snaps.
If you tie a horse to a place like that and keep a second lead-rope in your hand, you have total control. You can give a jerk and way "Whoa!" every time the horse moves and any horse learns very quickly to stand still, respect the lead-rope, respect the handler and 'lock up' when you say "Whoa!".
The other thing that you must learn is 'timing'. Any 'pressure and release' technique is totally dependent on your good timing to work. If the timing is off at all, it just plain does not work.
Say a horse does not like the cinch. Put a rope around the horse's girth area. Pull the rope tight. If the horse does not like it, just keep pulling the rope tight until the horse stops reacting. The instant the horse stops reacting, you release the pressure. Whether the horse learns to stand still or not totally depends on whether you stop putting any pressure on the horse the second he does the right thing.
Then wait a minute and repeat the thing he reacts to. Each time, he will stop and give it up more quickly. Pretty soon, he will stand relaxed and stop reacting at all.