one misconception about good communication in families, imo, is that you need to be good with words to be a "good communicator".
this isn't true, but communication is a skill like any other: the more you practice, the easier it gets and the better you get. and from many years of practice, I've learned that everyone has their own emotional language.
the best thing I can do as a mother or mother-figure is to help nurture that expression, but to also make my own simple to understand.