You can work on fidgiting with approach and retreat. Get him on a lead in a round pen and "sack him out". Using a stick about the length of a yardstick, stand at a 45degree angle at his shoulder, touch him all over. If he moves, move with him and keep touching him the same way until he stops and stands still. He may move a lot, but stay with it Then stop! Your stopping is his reward! Do it all again. You want to keep doing this as much as you can with objects that will bother him and work until he stands calmly. Only stop whe he stops moving and is showing signs of relaxation like licking, chewing, cocking a hind leg, head down.
If he is like my gelding, who was acting very similarly to yours, you will have to work hard to find something that bugs him. He was well trained and unflappable, but disrespectful. I think sacking out will help, but his fidgiting and kicking is not where this started. It started when he gives you guff in the pasture and walks over you on the ground. You need to address those too.
In the pasture, never go without a stick and string. In fact, Never work with him without a stick in your hand and/or a crop in your pocket from now on. He is a dangerous but thread right now. He is moving on you to become the alpha and he is looking for opportunities (like when you say he does it in the pasture when he knows you can't get him). If he does anything that is disrespectful, you must correct him. My gelding kicked out after I released him, both feet, not long ago. I yelled"NO!" and threw my only weapon at the moment, a bucket, grabbed my stick (always nearby!) and chased him down. I haltered him again and worked him hard on the ground for another 15 minutes, then released him again and he was much better. I don't hit him unless it is immediately after his dangerous behavior and I make him work extra hard moving his feet after I yell and spank. I have found you have to be careful to only hit this way or he can feel "challenged" and become more dangerous.
When leading or around the barn, be totaling unforgiving if he bumps you or pushes or rubs. Yell no, hit once or twice with stick and make him back up. If its when you are leading, make him back up until he is quick and light on his feet, or lunge him for 5 minutes at a brisk trot and change directions often, or make him yield front and hind, again till he is quick and responsive.
You can see there is a lot to it so a trainer could really help you, especially if you are unfamiliar with approach/retreat and groundwork.
I get the feeling he knows what to do, but thinks he has a shot at the bosses job. If you can be firm and fair, and make sure that every move he makes around you is respectful and what you tell him to do, then you will be fine. If that sounds too hard or you don't want to be a hard ass with him all the time, you may need a different horse, IMHO.
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