How can i get my horse to respect me and my space?

What things or methods can I use or do to get my horse to respect me and how can i get him to back out of my space? I've tried wiggling the lead rope under him and waving a stick under to get him to move back away from me but that doesn't really work. He may take a step back and when he does i stop and praise him and then do it again but when i do it again he tends to step forward. Am i doing it wrong or is this not the right method? Anyways, any help or advice is appreciated ^^