While parents speak up to their kids, they should always make it a point to listen to them patiently and whole-heartedly. Just listening for name sake or getting involved in your own work like, fidgeting the cell phone, doing your office work might disappoint them or even frustrate them. Their matters to be shared with you could be trivial to the least, but still, put off all your duties and listen, talk and laugh with them.
This would surely enhance the bonding relationship between you and your children. In case, you are busy, ask your spouse to have the similar conversation. Such talking would increase the transparency between the elders and younger ones and thus motivate them to get your idea at any point of their life.