When defending, if a player transitioned to the "press" state, he would initialize his "seek" behavior which directed him to run to the ball.
The problem with this was, since the ball is continuously moving, the pressing player invariable ended up arriving a fraction too late to have any impact, and ended up chasing the ball from behind until he was relieved of his pressing duties.
The solution is to introduce a new A.I. behavior - "intercept" - which makes a guess at where the ball is going to be, and heads the player there instead.
Here you can see the defenders "connecting" with their intercept target nearly every time.