The relationship between correlations and entanglement has played a major role in understanding quantum theory since the work of Einstein et al (1935 Phys. Rev. 47 777–80). Tsirelson proved that Bell states, shared among two parties, when measured suitably, achieve the maximum non-local correlations allowed by quantum mechanics (Cirel'son 1980 Lett. Math. Phys. 4 93–100). Conversely, Reichardt et al showed that observing the maximal correlation value over a sequence of repeated measurements, implies that the underlying quantum state is close to a tensor product of maximally entangled states and, moreover, that it is measured according to an ideal strategy (Reichardt et al 2013 Nature 496 456–60). However, this strong rigidity result comes at a high price, requiring a large number of entangled pairs to be tested. In this paper, we present a significant improvement in terms of the overhead by instead considering quantum steering where the device of the one side is trusted. We first demonstrate a robust one-sided device-independent version of self-testing, which characterises the shared state and measurement operators of two parties up to a certain bound. We show that this bound is optimal up to constant factors and we generalise the results for the most general attacks. This leads us to a rigidity theorem for maximal steering correlations. As a key application we give a one-sided device-independent protocol for verifiable delegated quantum computation, and compare it to other existing protocols, to highlight the cost of trust assumptions. Finally, we show that under reasonable assumptions, the states shared in order to run a certain type of verification protocol must be unitarily equivalent to perfect Bell states.