You don't have to do anything special to build a relationship with your child. The good news and bad news is that every interaction creates the relationship. Go shopping, bath time, when you read a story to your children ... Everything matters when it comes to communication. All are good opportunities, for example if your child does not want to share a toy, does not want to go to bed or do his homework. Depending on how you handle the situation, it will be the basis of the permanent relationship with your children.
This is one reason why it is worth thinking about any recurring interaction where nerves assail you, you should think about how to handle that same situation in a different way. Interactions that occur more than once tend to initiate a pattern. Denying and criticizing are not a good foundation for a relationship with someone you love. And besides, your life is too short to be spent in a state of continuous annoyance.
Communication habits start early. Do you listen when your kids talk endlessly about their friends from school, even when you have more important things to think about? Then it is more likely that when he is a teenager he will tell you what he does with his friends (and that surely you will also be interested in knowing).
It's hard to pay attention when you're rushing to make dinner for dinner, when you're working, or trying to do two things at once. But if you don't, you will be missing an opportunity to learn and teach your child. Your child will learn that you are not listening to him and that what he says does not interest you.
For all this it is necessary that you work communication with your children since they are very young, so your communication will be much better as they grow.