Since you did not give me specific behaviors, I can only give you a general answer. I don't know what your behavior is like, but as a therapist, I often found that when the parents calmed down so did the children. Parents with hyper children have found that all of the suggestions we make in our Positive Discipline books are the most effective methods to use with these children. It is never easy with hyper children, but repsectful methods can be effective. In our book, Positive Discipline A-Z, we cover over 100 subjects (including those you mention) with over 1001 non-punitive suggestions.
I think you would also enjoy and benefit from the book, Positive Discipline for Preschoolers even though your child is already six. This book has an excellent chapter on temperament. It could be that your child is not hyperactive, but simply has a more active than passive temperament.This book also has an excellent chapter on the personality styles of parents and what that invites in their children.There are many more chapters full of ideas for helping young children develop into capable people with self-discipline, responsibility, cooperation, and problem-solving skills.
Like you, I wanted so much to be a good parent.That is why I was thrilled when I found the methods I write about.They really work. I'm sure you have made some mistakes, but not more than I have. A main theme I teach for parents and children is that "mistakes are wonderful opportunities to learn."