Practice is the key.
Only use the tools you intend to carry on the bike.
Dont be tempted to cut corners and buy shorty levers, they are good but at times you need the leverage of a longer lever. This also depends on the tyre make, some have very stiff sidewalls that are a pain to get on and off the rim.
I also carry liquid tyre lube and use only enough to get the job done. I've seen people use gallons per tyre change, not necessary.
Carry an air compressor rather than compressed air canisters, so much better in my opinion. Also handy to pump up tyres if you have reduced pressures for offroad sections.
Watch the you tube videos and you'll learn loads.
Last but not least is take your time and do not rush at it, that is when you are most likely to damage a sidewall, pinch the inner tube between a lever and the rim (creating even more problems), or even damage yourself, can't change a tyre with bandaged fingers!

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2011 XT660Z, in BLACK of course!
Mods done:
Lost the will to keep track!