Sorry to hear about your Grandad, Reliz. Yes 99 was a grand old age but I do wonder why people are so keen to live to such great ages. It's always at the wrong end.
No I am not one to beat my horses, or my dogs for that matter. I use lots of treats and also clicker training these days as well, which involves not using any force at all to train them, just looking for a tiny bit of the thing you want and clicking it with this little tool, which they understand means the treat is coming for what they did when the click happened, so they do more of it.
My current riding horse isn't far enough along with her training that I can ride her without a bridle or saddle yet, but past horses have been. At the moment she is learning to fetch a colourful toy, and she loves to try all sorts of obstacles like poles on the ground, and bridges, because she is so highly reinforced for them. Each thing she learns to touch, pick up, walk on or over helps her be braver and to make more decisions for herself. It is a fascinating way to train, and your animals really become involved in the process.
Australians are really in the forefront of doing it with dogs, but behind the Americans and some of the Europeans in getting it into horse training. The Aussie horse world is very old fashioned, sadly. I had such a great time teaching my dogs that way, I couldn't help but incorporate it into my horse work and luckily enough people in other countries had gone before me that there was lots of info online about it.
Anyway, whoops, you got me onto my pet topic there. Ha ha ha, PET topic.