1. A child isn't an egg. You shouldn't be afraid to let them crack; because sometimes they need to crack to develop. You can't shield them from life's hardships. They will fall off the bike to become the best cyclists.
2. The other child you compare your child to is probably worse, you just don't know it. Even if they're identical twins, they have different journeys.
3. Let them be their own person. As much as they want you to be their friend, they need you to be a parent even more. They appreciate what you do for them though they may not show it all the time. Life has given them it's own share of tough at school, work and socially.
4. Communicate and know what's up. Develop an interest in what they like doing. Support their arts and or talents. Your advice is wanted and needed even when they pretend they don't care. Sometimes your listening will do more good than speaking. They just need to know you understand.
They are smart and will turn out just fine. So stop worrying. You're doing a great job.