You don't become a true leader in one day. With time, experience, and understanding of different situations, you become a true leader. Then you slowly develop the power to motivate your subordinates.
Help your team attain its goal
As a team leader/manager you need to make your team "the best" among other teams. As a leader, you need to encourage your team with motivating words. Even the criticism should be such that they don't feel discouraged to work further. Instead, they should be able to strive ahead to achieve their goal. You can find the best leadership strategies online via https://www.leadstrat.com/.
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Be heard among your team members
Develop excellent communicating skills so that you can convey the actual message to your subordinates. Be simple and clear from the start so that there remains no place for doubt. Ask your team members to come to you repeatedly for clarification. Ask them in return given a chance how they will try to achieve the set goal. They will feel encouraged and happy.
Encourage your team to trust you
Your team should trust you enough to confide in you. You should always be there for them when they want to share anything with you. This will increase the understanding between you and your team.
As a leader of the team, you need to make certain that they like what you are doing for them to be satisfied and contented.
Again in the process of sharing things with them, do not encourage them to disclose any grapevine gossip.