Don't focus to much on "style", most people end up being able to draw in any style they want, you're probably sick of hearing it, but just keep going back to basics of anatomy, and that doesn't even mean you need to study, just keep some things in mind, like remember to always draw an outline of what you want to draw.
I actually drew that centaur a little while back for someone on flight rising, i wonder if that was you?
Anyways. I'm not great at explaining things in words so heres a diagram
when I looked at this picture I thought things should align on the blue lines, so his back would meet his torso at a 90 degree angle. Of course this isn't natural anatomy so theres always room for error, no one can say the "correct" way to draw a centaur, but if things look right, people won't question it. his left, or the arm on the right also looks rather uncomfortable, if you have trouble thinking how an arm should look remember you can always look at yourself in the mirror and pose to see how it should look, and then the red lines are the corrections I would have made based on how things should looks based on the blue lines. I think my explanation is a bit confusing! Sorry!
The most important advice though, is just KEEP drawing. It's easy to get discouraged and stop, but over time you will improve! You struggle with hands (who doesn't!) and you try to draw them as small as possible, but don't worry if they look weird, try draw hands to scale with everything else, at first you might think it looks bad, but when you stop avoiding them you can only improve. I hope I don't sound too high and mighty, I really just do art as a hobby, but I've still been trying very hard to improve. Try not to be too hard on yourself, and remember that its something you do for FUN. I hope I helped even a little, and good luck with all your art in the future!