It is important that you start as early as you can. Start simple such as asking them how was their day at school, do they need help with anything, and more. Have a chat with them as much as you can, you must make them feel that you are their most trusted friend that would never betray them. Having a good relationship with your teen always start with how you communicate, keep your mind open and you will be in good terms with your teen.
“Most people who have grown up introvert in this very extrovert culture of ours have had painful experiences of feeling like they are out of step with what’s expected of them. Parenting can pose unique challenges for introverted parents, who fear that their own painful experiences will be repeated in their children’s lives.” Susan Cain
People have their own ways of raising their children, there may be tons of different ways to do it, but none of them will always be perfect. Keep in mind that parents should always be the one to have a wider perspective because they are more mature and that the struggles of raising a teenager is part of being a parent and that is something you don’t simply give up