I love my children dearly, but we more often than not talk at one another instead of speaking with or to one another. Could this be because we have poor listening skills?

That is certainly one very good reason if not the main reason. Frustration, eagerness to get your point across, and lack of empathy are other common problems. As a parent, you may assert yourself as the decision maker and feel the child should just fall in line. When a parent gives an answer like, "Because I said so" the child can clearly see that you are being lazy or you are not taking their argument seriously. It becomes frustrating for the child and it carries on with each argument. My suggestion would be to explain your position (fears, concerns) then listen to their response. Be willing to compromise.