Practice. Practice, practice, practice. Start with simple recipes with easy to understand instructions. Try to follow them exactly until you're comfortable enough with ingredients and making that particular recipe that you feel like you can add things or tweak it a little to make it better fit your tastes.
Even when you move on to more difficult recipes, follow them exactly. At this point, you may need to look to youtube videos if you need some help in understanding how or why to do something in the kitchen.
Cooking takes time, so if your main concern is saving time, look for things you can do the night before if you have more free time - like already cooking a part of the recipe and freezing it for later.