You're well suited to being the boss, so long as you don't become too bossy. You're very competent, and you feel you know the best way to do things. Hence, you want people to do exactly what you say. But that doesn't always go over so well.
To succeed with co-workers, try to leave the parental behavior at home. Stifle any tendency to be controlling and put some of that stellar nurturing behavior to work instead.
Delegate tasks and trust that the work will be done right. You can keep a watchful eye on everyone so they're focused on the end goal without lapsing into micromanagement!