I have POA on my spouse but we agreed and he left. Can I legally make him come back home?

Be nice?

Guardianship /conservatorship is what you are talking about. Awarded in court.  POA does not confer this kind of power and the person who gave it can do what they want - their wishes trump POA and they can revoke it.

No. POA does not give you that kind of power. POA doesn’t give you control over him, you don’t have POA “over” him. POA allows you to make decisions when he cannot.