You need to understand what it takes to be there, so you know a

Target to get things done with descent quality, then add a small buffer for productivity factor, so people don't feel over stressed or over stretched to reach that goal. It is a job to everyone, people want to do something that still give them certain balance in life. Same for you. You need to build relationship with those guys, make them feel you are on the same boat, rather than you are your boss's "da shou". It is a fine line. There are slackers and low performance guys but before you can pick your team you have to live with it. Again, even if you are a manager, don't use firing people as a tool to manage people. It ruins your reputation by doing so.