Leaning in the doorway of someone else's office or sitting on the edge of someone else's desk can be threatening.
unresolved feelings of insecurity might manifest as a desire to bully or control.
While it may be enjoyable to get people to do what you want, it's preferable to motivate and inspire co-workers and family members rather than intimidate them into action.
The intimidation might be created by something you don't consciously control, such as excessive height that makes you tower over others, or your leadership position, but it is usually the result of how you communicate.
Browbeat suggests the persistent application of highhanded, disdainful, or imperious tactics: browbeating a witness.
Cow implies bringing out an abject state of timorousness and often demoralization: a dog that was cowed by abuse.