Question, Boss

I somehow fail to communicate. Somehow don't manage to get across what I want to say. It doesn't happen all the time. But a lot of times when I have to play the boss, not necessarily the boss but convey something that I want to get done.

I find myself completely at unease. Whether the person before will be offended. What will the person's reaction be like? Am I demanding too much? Am I taking up space I shouldn't bother myself with?

I have to get my work done. But I don't know how to convince the other person in doing such a thing. It is almost painful. Whether it be my C. Whether it be B. Whether it be M. Whether it be A. Whether it be U. R. or A. Or it be S. Or the new team I was working with. I might just manage to get the work done. But efficiently or in a friendly way- mostly it does not. Where does it fail?

If I am bossing, I am fine with that equation. It might turn out fine. But then I am not the boss and I cannot assume that equation as a boss. As we know, none of us like to be bossed over. Me too. So how do I change this?