Your son sounds like mine. He's learns best when he's in motion. My son is now in middle school and to this day certain teachers have a tough time with him - other teachers absolutely adore him. Nearly every day his kindergarten teacher would come out and throw her hands up in the air and complain about something involving my son (he can't sit still, he fidgets & makes holes in his knees, he dosen't listen, etc.). When his first grade teacher began making suggestions it became so clear to me - and I am still shocked to this day that the K teacher couldn't see things about my son that I can now identify in other kids a mile away.
Couple of things - consider having him tested for early intervention services. My son is very very smart with math, science, spatial skills - but has such a hard time sitting still. He was eventually diagnosed with ADHD and some language based learning disabilities. There's are a few authors / books you should read - A Mind at a Time - by Mel Levine & The Way They Learn by Cynithia Tobias. Both address how different kids have different minds. Some are really good at sitting still and reading& writing while others are high-touch learners and learn best while standing, or in motion, etc. My son learned his sight words while we threw a ball back and forth and in between running laps around our living room / kitchen. My daughter sat still & instantly picked it up.
Schools teach and test language and math skills primarily. Pre-schools prepare kids for regular school. So the kids who are exceptional at music, athletics, spatial skills (think engineers, builders) are not really addressed that well. That's where super-mama comes in!
You know your child best. He's only been on the earth for 4 years! This pre-school teacher is really expecting too much from this particular little person. Try postivie reinforcement instead of scolding him. Set expectations in advance "I know it's really hard to sit still for circle time - you probably just want to get up and touch the calendar. There are times when I don't like to sit still either. But I know you can do it - you have learned how to do alot of things that are hard to do (give examples). then set up a little chart that his teacher can adminsiter in private with him. A chart for one week at a time - (3 boxes if he goes 3 days, etc.) After a good circle time the teacher pulls him aside in private and she tell him how proud she is of how well he did. He gets a sticker to put in the box on the chart. Make sure the teacher does not pull him aside if the circle time didn't deserve a sticker. No comments unless they are positive. Let him bring home the chart each day and you can then reinforce it. Only positive feed back. When he has a week full of stickers he gets a treat - a small toy he's wanted, a special playground visit, McDonalds, etc - you know what he likes.
My son is now 11, he's popular, smart, doing reasonably well in school (really well in some subjects, OK in others). He's a very good athlete - but has a tough time staying focused on the skills he needs to practice, He'll be an engineer or builder one day based on his skills set. He's the class clown and has a very good heart. This year he has one teacher who he insists hates him. And while I'm sure she doesn't hate him, she probably wishes he wasn't in her class. But that's a part of life too - and a life lesson for him.
Check out those authors and see if you don't learn something about your wonderful boy while you read. While my son will never be the best student he's such a blessing to me and makes us all laugh. I know he'll do wonderful things in his life and I know your son will too. These kids are the corporate leaders, the top sales people, and the great artists and musicians. Watch him and learn what he's good at an encourage him in those things - he'll do wonderfully with a mama like you!