PP have given great advice re 1:1s (I personally dislike and therefore won't do 360, but that's a matter of personal style unless dictated by policy - others find them great).
One of the crucial things every new manager has to learn, though, is that there's a difference between being the boss and being a mate. You mustn't approach them expecting or wanting them to love and adore you. If you do a good job and are fair and loyal some of them inevitably will sooner or later. But that's a perk and not part of the job description.
Overly familiar buddy type managers scare or confuse employees more often than not. It's difficult for them to make silly jokes with the same person whom they have to justify their failures to a few hours later.
I'm saying this as someone who loves her boss and who's generally regarded as a much beloved boss and someone people actually want to transfer to. I like most of my employees - some more than others. My boss was invited to my house party just recently (and happily accepted). But those kinds of relationships don't pop into existence along with a contract. They grow and thrive over long periods.
Try and aim to be effective, fair and loyal first and foremost and worry less about whether they like you as a person. You're their boss. You naturally make them feel a tad apprehensive. That's not you, it's your role.
I'm also a big advocate of doing small, informal 1:1 type things with my people every once in a while. I'll take one of them for coffee outside if we're just us at the office or will tell an overworked staffer that we'll both call it a day at 4pm and take them for a quick drink at the pub. The point is, I don't plan these things and I don't do them to ingratiate myself but because I like my people and want them to be okay in their jobs.
Okay, that ended up a bit long and rambling, but I hope the gist is halfway clear.