If he does kick towards the rope, he will just have to take a while and get used to it. Just wait a few minutes and allow the rope to touch his hind legs. Expect him to jump around and try to move away from the rope. He might even try to move around in a circle. While you are holding onto the horse halter, make your left arm stiff. Force him to walk around you while you are holding onto the rope and halter.
Eventually he will come to the conclusion that the rope is not causing any pain. At this point, he won’t have any problems with your going on to the next step.