Try using Custom Function 4 set to 1. That changes the triggering for auto focus from the shutter button (half-press, of course) to the * button that's under your right thumb when you are using the camera.
You can, if you like, leave the camera on AI Servo. Then if you merely tap the * button it will autofocus and quit when your thumb is off the * button. If you hold down the * button, it will do AI Servo as long as you hold the * button down.
Personally, I don't like the AI Servo, but that's why there are so many options. I do, however, use the CF4=1 setting all the time. I really like the control it allows me. I can tell the auto focus system to do its thing when I want to and otherwise just use manual focus. For a whole series of shots at one distance from the subject I only need to focus once - not on every shot with the camera deciding different focus points for each shot because it thinks it's smarter than I am.