Practice and good teachers.
Rembrandt Van Rijn painted as a child. When he realized that he wanted to get more serious about art, he spent three and a half years apprenticed to two talented painters. Presumably, he spent hours every day painting and learning during this time.
Leonardo Da Vinci also was apprenticed to a painter; at the age of 16 he went to work for an artist named Verrochio.
The key to success with painting is the same as the key to any other talent: find good teachers and practice, practice, practice. Apprenticeships aren't very widespread these days, but if you're serious about painting, find a school that specializes in the fine arts. And devote a lot of time to practicing your craft. That's the only way you'll ever et better.