Practice. And take it easy at first. I started reading them in the bathroom :).
And this takes a metric fuck ton of practice. There is no royal road.
IMO, you should probably start with easier material until you strengthen these muscles. Some examples of friendly CS texts that comes to mind are Programming Pearls, the C programming language, or the SQL paper by Codd https://www.seas.upenn.edu/~zives/03f/cis550/codd.pdf
I'd be curious what texts other people would recommend for someone who is a student getting a bachelor's degree in CS.
http://www-formal.stanford.edu/jmc/recursive.html
Full title is - Recursive Functions of Symbolic Expressions and Their Computation by Machine.