Everyone wants a well-rounded, quiet and dependable horse because your life is in your horse's hands (actually - feet) when you mount up and are in the saddle. If you have not spent the time to develop your relationship with your horse and you simply get on and go, you probably have a greater risk of miscommunications during spooky events and higher potential for a wreck when things go bad.
Consider taking your horse to a clinic that will challenge his mind and expand his bubble of security. There are many clinics offered that address this type of education; they may be marketed under several different clinic-type names, such as: Trail Obstacles, Bomb-proofing, Combat-training and so on.
It is a good idea to attend a clinic which will be run under the guidance of an experienced clinician who will teach you the necessary concepts for success with your horse. The examples of obstacles shown in the embedded video show a horse that has had a lot of preliminary work done over a period of months and years.
Start with a very simple obstacle; maybe just one barrel or one pole, or even a tarp. Use the approach-retreat method which means that you know when your horse is at his confidence threshold; if you push too quickly, your horse will become fearful. You need to allow your horse to move his feet and back off, and allow him to have some time to think his way through the puzzle that you are presenting him with.
You should not expect your horse to perform like the horse shown in the video until you have put in the time that it takes. You must understand how to read the horse's state of mind, have a lot of patience and gentle persistence. And, always remember to proceed at the horse's pace, not yours.