In short, stop and think for a few seconds how to re-state your feelings in a way that is not hurtful to the other family member and will help build your love for each other, rather than tear it down. Of course the most important talk in families often tends to be spontaneous talk. This is communication when no one is really working at communication, but simply enjoying talking and listening for talking and listening's sake. If parents and children are comfortable around each other and genuinely enjoy each other's company, then all kinds of interesting and important issues will come up in the conversation. Communication in strong families does not always produce agreement on important issues.
Family members are each individuals and have unique ways of looking at the world.
Communication works best if they all can speak directly with each other without blaming or condemning. Even in strong families, some disagreements simply don't get resolved. People can still love each other and remain friends and loyal family members while agreeing to disagree on various issues. Religion and politics are two perennially hot topics, and the strongest of families can have members diametrically opposed in their world views. Take your pick.