I remember Gowers' 2012 edition of Horace (Satires I) as having a very full commentary aimed at inexperienced readers of Horace. I found it good preparation for reading the rest of the Satires and the Epistles. (There's an excellent Amazon review if you want more details.) Horace is not the easiest Latin poet, though, so he may not be the best point of departure if you haven't read much Latin verse before. I think Braund's edition of Juvenal (Satires I) also offers more help than many CGLCs.