Something that comes up often, and is indeed a frequent topic of discussion and confusion at many of my clinics, is when a rider should use their inside leg to ask a horse to yield.
Horse people (especially professional horse people) often credit their knowledge to the horses they have worked with. In my experience, this is mostly not true.
St Thomas Aquinas was an Italian Dominican priest, scholar, and theologian who died in 1274 A.D.. Aquinas wrote (paraphrasing) that all animals were a gift from God for humans to exploit and use for their purpose.