Work at broadening your circle. Think about your closest circle of friends and family: how different are they from you? Do they share your color, sexual orientation, gender identity, gender expression and abilities? For most of us, the answer is yes. Widen your circle by inviting someone from a different community to share a meal or grab a coffee. 
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Look for diverse representation in media. The television, films, books, music, news, and social media we consume really shape how we relate to people from different groups. To reduce subconscious bias, spend time with a wide range of experiences and perspectives. Make sure that the kids in your life grow up with inclusive stories, it makes a major long term difference.
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Give people space to be different. Be sensitive to your own biases as you see and interact with people. When you find yourself generalizing, try to think of counterexamples. Have you considered what you could gain from the perspectives of people who are different from you? Challenge yourself to look at things from their point of view, and they can do the same with you.