So, I guess I need to write down some goals

For both of them, I'd like them to;
Stand to be haltered.
Lead quietly beside me at a walk and a trot. No pulling or dragging.
Stand while tied, without pulling or pawing.
Stand while grooming, clipping and bathing.
Pick up all four feet for long enough not just to pick them out, but for long enough for a farrier to get their hooves trimmed.
Longe quietly with no pulling or bucking.

For Hickory, I'd also like him to,
Stand while being sacked out.
Stand while being saddled.
Keep his head down while being bridled.
Be line driven quietly.

I was grooming Penny today and she can be caught easily, will lead at a walk, stand tied while I brushed her, plus I clipped her muzzle with no problem at all. It took a while of rubbing the clippers on her neck before I could do her bridle path, but we got it done. I also rubbed the clippers on her ears. I don't want to actually clip her ears, we aren't going to be showing any time soon and bug season is starting. She stood great for her left ear, but needs more work on her right one.
It rained here all day yesterday, and they are in a dirt pen, so her legs were pretty dirty. I'll bathe her tomorrow if it's warm enough, then clip her fetlocks.
She could pick up her feet a little better. I'll have to really work on that. Her hooves could really use a trimming.
I'm about to head out and work with Hickory now.