Why can't I link Abel's Step Kick into cl.HP or cl.MP?

Every time I practice in Training mode, it seems to be a hit and miss. With the bots set to Auto Block, it seems sometimes I can get very lucky and get it in, but most of the time, it ends up in a block.

I know Counter-Hit makes it easier to link, but since I can't rely solely on Counter-Hits when playing online matches, how am I supposed to nail this down consistently?