Your instructor is telling you something important, master other kicks before you go for high kicks. High kicks are not as useful unless your well trained in them.
But then the long journey starts with a footstep:
To improve balance do the kick slowly, very slowly (Bionic Man slowly). Make sure you get your knee up high with your leg tucked in, then slowly extend your lower leg out to full extension and hold it. Then slowly pull it back. The slower you go the longer you will be balancing on one leg and hence your body and brain become more comfortable with it. Do this often, the more you do it the better you get, when I first started I could barely keep my leg at a 60% angle!
General leg stretches are vital and should be done often but not forcefully. Stuff like touching toes, Splits and variations of leg positions for splits etc, standard gymnastic stuff.
And I found exercising my hips and quads/upper legs with weights helps you keep your leg up. If you can't go to the Gym then do lots of leg exercises, little and often through the day. Hindu Squats, Raising Knee / Leg, running up stairs that sort of thing.
As usual, corrections welcomed if you think I'm full of [poopy]
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