First of all, being a lead is not you in competition with your juniors. Everyone of us have different experiences and different starting points.

IMO It is helpful to remove the "senior" or "junior" title when working with them.

Work with them. Provide guidance when needed. Learn from them. Trust them. Consider their opinions. Help them provide you with information on things you are not familiar with. Praise their accomplishments in public. Critisize mistakes in private. Provide useful feedback

Have fun :)