How do I make sure that freelancer cannot claim intellectual property rights for an asset?

Draft a contract which effectively states what he is to do, that is, design a particular logo per your design objectives, and also include a clause which clearly states that he has no rights to the logo that he creates in accordance with your specifications. In law school, we always studied cases where party A understood one thing whereas party B understood another thing, and it always came down to the fact that if they had had a written contract specifically stating what the contract was, they never would have wound up in court.