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If you just started guitar or not very long ago, this is a common issue. If you don’t have callouses on the tips of your fingers yet, developing those will help. Make sure the nails are clipped!. Good technique is the key, coming at the strings perpendicular, get your palm far under the neck so your fingers can have a better approach. As you play more you will also develop more bend in the the first knuckle (metacarpophalangeal joint at the base of the finger), it’s underdeveloped for non guitar players as it’s not utilized very much other than to play stringed instruments.
You want to get into a good playing position too, sometimes raising the neck higher while tucking the elbow close to your body can lead to better positioning of the hands.
Other than that it’s simply repetition. I had thuds in my C, G, D, E chords for months. Slowly this gets better. I felt I would never play a clear 4 finger G! Now it’s a piece of cake. Just takes time. When you are trying to improve your chords specifically, you want to make transitions from one to another since this is how you play guitar.
Choose a 2 or 3 chord song and just play the transitions over and over. I do this while I’m watching TV.