A horse and a man, above, below, one has a plan, but both must go

... mile after mile, above, beneath
one has a smile, the other has teeth
Though the man might say hello
expect no love from the beast below
 
In bed above or deep asleep,
while greater love lies further deep.
This dream must end, this world must know.
We all depend on the beast below.
 
For @tophat-95