If you make a mistake, do what you would want your staff to do if one of them made a mistake - apologize, learn from it and move on. Better yet, conduct yourself in such a way that your actions cannot be misinterpreted. Model the behavior you want to see from your staff. Don't lose your temper. Watch your tone of voice.
Reward progress instead of punishing lapses.
Conduct your counseling sessions in private and never when you are angry. As much as possible, create standards of performance rather than rules. Expect the best and don't jump to conclusions. It is all a human equation, after all.