The first thing is probably doing 100s of teeps each day, just to get more and more comfortable with the elementary action. As you get more habituated you become both more grounded (balanced) and quicker too. The second thing is to learn to pull that teep back after contact, a little like the jab is pulled back. Your teep is like a jab, its not a power shot, and all power comes from the body weight transfer, so getting the feeling of that little "pop" will just improve over time. Pretty awesome that you are listening to the Muay Thai Bones podcast!
If you keep having trouble with your teep being caught, one thing to do to get a partner every day and have them hold your teep, and work on your balance and counters to the catch. A quick turn of your leg "in", with the knee turning to point toward the floor, should free almost any catch, if you do it quickly. You can also do a "heavy leg" counter, which is you just lean forward and just weight the leg directly downward, while it remains straight. It's surprisingly effective, most do not prepare for that weight transfer. And lastly, you might be more comfortable with more of a side on teep, like the one favored by Samart at times. A straight on teep gives your heel to the opponent, as a handle to cup from below. If you teep quickly it shouldn't be a problem, but turning the foot with a side angle removes this handle. You can see Samart using his side teep in this fight:
Just a few thoughts.
If anyone is wondering about the podcast in question, here is the episode, we talk about the teep in the first segment: