There are basically two ways you can get others to do what you want. You can compel them to do it or you can persuade them. Compulsion is a method of slavery; Persuasion is the method of free men.
Getting people to do what you want starts with getting an understanding of what makes people tick and what motivates them, that is, a knowledge of human nature. Great leaders possess that knowledge. If you understand what motivates people, you have at your command the most powerful tool for dealing with them.
Excellent leaders create an environment for success. The best way to gain loyalty is to show interest in and care for them by your words and actions. Sam Walton said it best. "Outstanding leaders go out of their way to boost the self-esteem of their personnel. If people can believe in themselves, its amazing what they can accomplish."
I have heard on more than one occasion that some business owners only hire "A players." My quick response to that kind of statement is that you need to provide those "A players" with "A jobs." A players want to be challenged. My very first A player I hired left after six months since I had given him a C job. Good lesson.
People will work harder, stay longer, and do better when they like what they do. Make a part of their work life a plan for personal development to help them to continue to grow and improve.
If they know you care about them, and you help them become better as a person, they will do what you want them to do.