I would like to be a better listener

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I try to be a good friend to my friends.I have 4 very close friends,I couldn't choose between the 4 which would be considered my best because they are all very special to me and I have been their friend for many years. What I mean about being a better listener is I find that although I have known these people all these years sometimes I feel like after I have spoken with them that maybe I didn't give them enough chance to talk.I myself will say whats on my mind whenever,but i wonder sometimes if maybe I talk too much and don't give them a chance.I know I am a good friend I am there for them we spend lots of times together,I like to think I have helped them whenever I could.Maybe I am worrying needlessly,but I know one friend doesn't come out with what is on her mind most of the time it is weeks before I find out something was going wrong in her world that she was upset about.So I wonder if I am not reading the signs and too busy with my own things to notice,or if she is just very good at hiding it.She has a 23 year old daughter who has been getting into trouble since she was 14 I.Now when my friend does finally say something I do everything I can to help,and I have managed to help this kid out a lot of times.Chased her down when she was hanging in the bad section of our state,gotten into a drug treatment program several times.I just wish she wouldn't take so long to tell me there is a problem,it makes me wonder if she thinks I don't want to hear it or something. Does anyone find that they have the same thoughts sometimes,or am I just being paranoid. Jas