My goal as a parent is to be a better parent than mine were to me.

I'll know I succeeded when my children are better parents than I am to them.

We have far more knowledge and understanding than our parents did. We all make mistakes. Acknowledge them and look to see if they were trying their best.

I will also mention that parenthood gets more difficult (though also more fulfilling) as they get older. Also, you can be excellent 99% of the time. That 1% bad day will be the one they remember.