First, Folly, I'm so happy you found a horse you are clicking with! It sounds like this horse is going to be wonderful for you!
Second, thanks for bringing this up and thanks to everyone for commenting! It's been a great read and is reinforcing what I am now intuitively doing with my horse Harley. We've only had him since October so we are still getting to know each other. I bought him for my daughter, but I am riding him too (in fact, more than she is, but that's another thread!). Often, I go to the barn alone, at night. Initially, I struggled with opening and closing doors to and from the barn and the riding arena. I didn't know how to do it without having him follow me but while still holding on to the lead rope or reins. Gradually, we learned to understand each other. I did reinforce stopping in front of open doorways, which he wasn't very good at initially. But now, I just stop him, walk in front of him, open the door, then lead him out, turn him, close the door, then walk on. I don't actually think about it or go through a series of commands. I did some groundwork to teach him to stop when I stop. And I can walk out in front of him while he waits without actually telling him to wait. Though I can totally see the benefit of a "command" or "cue", but I honestly hadn't really thought it through, this is just how our relationship evolved. He's smart. He knows what's expected of him.
Obviously I'm no expert so listen to everyone else rather than me, but I just wanted to say that I think this can happen naturally, to some extent, as you get to know each other and learn to communicate with each other. Enjoy!