Yes, kitten_Val, you'd need another person to work with the other horse.
It's really more or less that they're herd bound, but I guess only when left alone. It seems when you bring them out to work, they know that they're working.
Do you have toys and stuff in the paddock with them?
To be honest, i'm not really sure what to do, because the horse you are working for is fine, and it's the one you leave that has the problems.