I have a real problem here, my friend at the time helped me Co-sign for a car loan. I want to take him off my title and loan...I just got the car 3 months ago. What do I do? He keeps threatening to take the car.
Co-signing the loan puts him at risk.
Having his name on the title puts you at risk.
To take him off the loan, you will need to refinance into a new loan based entirely on your own credit.
To take him off the title, you need his cooperation; he needs to agree to transfer his partial ownership of the car to you. Or you need to take him to court, but I'm not convinced you could win such a case.
See past answers regarding co-signing loans. This is a high-risk practice and should be avoided unless the co-signer is willing to risk losing their money. Doing this for a friend us a great way to destroy a friendship.
To answer your question, just because he's a co-signor doesn't give him the legal right to just take the car from you as long as you can demonstrate you've been making the payments as agreed and are being responsible for the car and maintenance of the car.
Several people have noted that he is a co-owner with you, which is true, but he doesn't have more rights to the car than you. If it was agreed that his only role in the transaction was to be the guarantor of the debt then that's the only actionable claim he'd have -- that somehow you've breached the terms of the loan and he needs to secure possession of the vehicle to protect his legal and financial interests.
Several people have noted you'd need to refinance the loan in order to remove him from it, but as also noted, he's on the title, so he'd have to agree to sign away his ownership. On the flip side, why not offer to let him take over the payments and the vehicle and you can step clear of the whole mess? It might be the wiser choice in the end.