When learning to ride a bicycle, you can intellectually understand that you should lean right when the bicycle leans left, and vice versa, but if you need to think, it is too late, and you will fall to the ground.
Hovering a helicopter is very similar to this. The correct response to a situation needs to become completely automatic - if you stop to think, it will already be too late.
The only way to develop this hovering reflex is a lot of practice. Consistently practicing a small (or large) amount every day for several months is the best way to develop this hovering reflex.