Those verbs are indeed confusing for non-native learners. Here's just a summary.
"閉[し]まる - 閉[し]める" and "閉[と]じる - 閉[と]ざす" are "intransitive-transitive pair". However, 閉じる is also used as a transitive verb. Similarly, "開[あ]く - 開[あ]ける" and "開[ひら]ける - 開[ひら]く" are "intransitive-transitive pair", but 開[ひら]く is also used as an intransitive verb.
Semantically, "あける vs. しめる" and "ひらく vs. とじる" are antonyms. Roughly, it's said that ひらく is basically only for "to open" when "to close/shut" is a set of actions (e.g. 本をひらく vs. 本をとじる). あける doesn't have this limitation (e.g. 缶詰をあける "to open a can"). Also, あける/しめる is for "two-dimensional " action, and ひらく/とじる is for "three-dimensional". There are some more differences but many exceptions also exist, so it might be better to remember the object and verb as a set.
○傘[かさ]を閉じる
×傘を閉める
○目を閉じる
○目が閉じる
×目を閉める
×目が閉まる
○花が開[ひら]く
×花が開[あ]く