All horses will kick. Lots of them do not kick very often, but they all kick. I think Skipsfirst point is that kicking doesn't necessary mean disrespect, but that it can happen reflexively and that it is prudent to be aware of the possibility of triggering that reflexive action unintentionally.
I have never seen my lesson horse kick, but I am still very careful not to startle him when I'm moving around his hindquarters, and I would not be willing to try to muscle into a clump of horses in a tight spot, all of whom are facing away from me and unable to change their position easily. Likewise, if I'm driving the horse away to make a point to him about doing the "right" thing, I make sure that there is a clear avenue of escape in front of the horse, and I do it from a position at the horse's side - even if whatever I'm doing is directed at his hindquarters (to get him to go forward away from it) I don't do it within the kick-zone.
If I did, and he kicked me, I would absolutely consider that kick to have been *my* fault.