Learn to "treat others the way you would be treated".... If you were them. People have different needs and come from different places in life. This involves Mindfulness as our "knee jerk" reaction is often different. But through mindfulness our minds teach our brains to be wired differently.
We practice listening hands to improve our empathy to help us understand Their needs.
Empathy and understanding are what we need in order to be a friend to all people.