[ochronus]

Let me start with stating the obvious: it's really great you want to improve this skill! The world needs much more of it.

Non-violent communication and Active Listening come to mind immediately - I'd recommend a course for the former over books. There's a lineage of coaches in that field who are really great.

I've written an intro to active listening, not a book, but hopefully can inspire you: https://leadership.garden/active-listening-boosts-careers/