New Founder and Employers Relations

I am a founder on 2 startups and hired 2 tech developers for them. I have a huge tech background and able to manage those developers by giving tasks and checking their solutions. But I'm not good at communication. I only give tasks and check their solutions, but can't give any motivation to developers. I am sure this is really bad for employers. Because personally I would also get bored by doing same tasks everyday. So what do you recommend to motivate developers and keeping their energy.