Record yourself playing the chords and then improvise over the top using the relevant modes for that chord.
For example,Cmaj7 use C ionian [Or even C Lydian].For Bb/C use C dorian or C Aeolean etc.
It’s amazing how quickly all of this makes sense when you practice this way. It’s also amazing how quickly you develop new and creative ideas from a modal persperspective.
The modal concepts of the major scale are really quite easy to understand when we look at their transpositions because then we can really hear their different flavours and harmonic applications. Although I wrote transposing the modes of the major scale lesson for the acoustic/electric guitar the music theory of each mode regardless if it be “Dorian”, “Phrygian”, “Lydian” etc can be applied to any musical instrument.