If your the one pressing the attack, then just make sure you attack in multiples. Use combinations of 5,6,7 instead of 1,2 or 1,2,3.
A true counter fighter is very skilled because they can read and anticipate their opponents attack furthermore they have the knowledge of which tool or technique to respond with. In Olympic style taekwondo the most basic of counter attacks is. Stepping back one and immediately attacking with a rear leg roundhouse kick. This is the first of the basic counter attacks.
Understand that TKD is a mid to long range fighting system, so if your going to counter with a kick it is generally understood by the fighter that they will be at a safe distance in order for the kick to land.
Not only is that counter a very good one for sparring, but is a very good move for a self defense scenario. Particularly against an untrained assailant. Wait for the attack, step back once, and immediately kick the assailants knee, groin, or stomach. If your kick is strong and generally a TKD stylist has powerful kicks, that should end the situation long enough for you to run and get away. Ofcourse you always have the option of following through with more attacks but why risk it.
So there you are, I now haave given you your frist counter attack drill. Stand in front of your opponent at arms length. Wait for them to either attack with a rear punch or a rear kick, step back once
and immediately counter with a rear roundhouse kick of your own to either their face or their stomach.
Tip: The most important element in this drill is timing and judgment of distance. You must learn to read when your opponent will attack. For me, I tend to look at my opponenets shoulders, because with a person punches or kicks they move their shoulders first. Some people tend to look at the opponents eyes. While not as significant as watching the shoulders watching an opponenets eyes does have some merrit. Sometimes...usually begginers tend to look at an opponenets body [art before they attack, if you catch your opponenet looking low, he is probably going to attack low (stomach, groin, legs) if he looks at your face, you can assume he will attack high. Looking at their shoulders is probably your best bet.
Now that you can read when your opponent will attack, now it's about distance, when you step back only do it once, if he comes in with a 1 or 2 techniques you may take another step back in order to avoid the second attack. But when you step back make sure you judge the distance between you and your opponent you do not want to step to far out of range, this will nullify your attack...and that is not what you want. Step back just far enough so that you are out of his range and within your kicking range, that way your counter kick will work.
Now one more important thing is your timing. Once you step back, you must immediately counter, there is no time for hesitation. If you stall on your kick you will freeze and leave yourself open for attack. You must commit to the attack. As soon as you step back, immediately
counter with your kick. before you give them a chance to recover. Remember the best time to attack is when your opponent is at their weakest and the weakest time is in them middle of their attack, because they are off balance for a moment. This is why you step back and counter immediately to catch them off balance for that brief moment.
One last thing, never take more than two steps back, if you do you show that your attacks have no conviction and that you are afraid. Even if you are not afraid you have now given your opponent a mental advantage, you have given them confident in themselves and have therefore made them twice as dangerous. So good luck and practice hard. And let us know how this works out for you.