How do you say kick in Latin?

Calcitro, calcitrare, calcitravi, calcitratus means "to kick" when the verb is used intransitively, which is to say without an object (e.g., "He lay there kicking and screaming").

Transitive usage ("to kick something") requires a circumlocution, such as calce ferire, literally "to strike with the heel". (The verb ferio, ferire has no past tense of its own, past tense forms being supplied by the verb percutio, percutere, percussi, percussus.)

A side note: both calcitrare and calce ferire mean 'to kick with the heel(s).' That's how a Roman kicked - kicking anything straight on while wearing sandals was not a good idea.