Everyone is responsible for their own boundaries so if you're worrying you are hurting someone, you can ask how they feel and try to pay better attention to how they react to things you say and do that you suspect are crossing their boundaries.

Otherwise, if you are annoyed or hurt by what other people say or do, stop and look at it instead of letting it pass and discuss it with the person if it seems to happen in a similar way more than once.

Stick up for yourself, "Hey, that hurts when you call me names!" and if someone else says they are hurt by you, take them seriously and practice being aware of situations that appear to hurt them.