Answer
You should try understanding and keep an open mind to how their emotions work. For example, if your mom gets angry at the small things think about if she's had trauma or if she didn't have a parent involve in her own childhood. Think about what she might have gone through (This doesn't mean to compare or invalidate YOUR struggles with your parent).
Doing this will help a lot and you will get the hang of how to build your relationship.
As a parent it is their job and duty to build a good relationship with YOU. You never asked to be born, it is their responsibilities to make sure your life (mainly childhood) is the best possible.