Tell them you love them, it makes life so much better when they know that.
True story i am in the process of making a better relationship with my dad
I told my mom I love her yesterday 
I like to show it through actions. Like if they say their back hurts I massage their back or if they don’t wanna do the dishes (ugh) or need help with it then I help them.
Wow. Well done. I think I’d be to embarrassed to say that, so I try to show it by actions. Just my way I guess.