Learn about some specific exercises that you can do within your lateral work, to help you to maximize the benefits by increasing your horse's suppleness, range of motion, and the overall scope of his movement. All of which will lead to better scores in the Dressage ring!
You should feel like you have to ask your horse to stop, rather than simply "letting" him stop. If he stops when you let him, he is behind your leg.
To successfully maintain the elusive forward feeling hands, imagine that you are pushing a shopping cart as you ride forward into the bit.
Horses speak through their actions. Try to listen to what they are telling you.
Spend time on the basics, such as straightness and suppleness, and the more difficult movements will fall into place naturally.