The kick starts from pressing down with the hip and thigh bone and then whips through a relaxed knee and ankle with a momentary contraction of the quads.
To simplify things, your biggest opportunity lies in keeping your ankles as loose and your feets as floppy as possible. When you swim with fins, everything feels easier. This is because the fins are rubber and bend for you. You are trying to get the same feeling with your bare feet.
Solution: Swim with fins and without and try to zero in on the floopy ankle feeling with both. Try kicking in all positions (side, back, front and vertically, if your pool is deep enough). A floppy ankle is more likely to finish each kick with the foot in a generally more pointed streamline position, than if your ankle is tense.
It is challenging to relax the ankle and knee to some extent while kicking with some intent from the upper leg and hip. But the pay off is huge, as you'll be able to get propulsion, stability and leverage for your freestyle stroke without a huge amplitude, high drag, energy consuming kick.
Overall, if you are swimming with a choppy stroke and not spending time on drills and slow swimming, you're going to find it different to develop body awareness of your posture and joint extension.
Swimming long and tall in the water can make a HUGE difference in your speed. Imagine swimming with fins all the time - that could be you without fins. Seriously.
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