kicking is a response to an invasion of their bubble of comfort that they use on us and each other.
if people had to pet cattle with their face, they might treat them a little different.
usually what happens is that an animal kicks and for some reason, we elevate our response.
usually, you can see this building by them culminating in unweighting their foot and lifting it with intent.
if you can't take the time to see how this works be deconstructing what is bothering them and working around it and minimizing it, it's probably not worth it unless you are willing to use one of those kicking devices.