To lean forward in the saddle,
the reins slackened for a while,
to lean forward towards its ear,
...
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Because I have ridden for years, I know that the last two lines of this poem...in some ancient bond of trust, perhaps of love....is the perfect description of that bond. For a puny human to control the might that a horse is, there must be that bond, and you have hit it perfectly.
You are probably now better than John Kay at writing these sorts of poems, Michael. It is a very touching piece but the choice of the word 'perhaps' ensures it doesn't become Disneyfied. Marvellous.