answer ,dont hide the icons in the taskbar , right click the taskbar and choose properties,you will see the hide ()unhide ) taskbar box there , also you can customize windows taskbar icons to appear or not appear in a permanant or semi permanent way . simply right click where the icons are and select customize .
finally right click the taskbar ,(open space) not on an icon .and select properties .choose start menu and customize. there is an option to open submenus when paused on with the mouse pointer ,turn this off .(untick) and apply .