All this musk-style motivation 101 BS is direct from the CIA's manual on domestic espionage - frustration from within.

The means define the ends. If you treat people like shit, or as morons who need BS pressure techniques, you'll get a demoralised company.

Treat people well, set them clear targets and say it without fluff when they're slacking. If you can't tell somebody they're not good enough, you cannot help them to be good enough. None of this psychobabble BS where you're constantly second-guessing in a failed attempt to retain them on the rat-race for the rest of their life. Stop building ratrace companies.