I have a lot of controllers I want to know ways to organize them better
There shouldn't be very much common behavior between your controllers. If you do have duplicate code or common behavior, then it should probably be refactored out to a service. Thin controllers, fat models & services.
Knp University has a really good (and free) screencast on the topic:
http://knpuniversity.com/screencast/question-answer-day/model-organization