Trusts

I have built up quite a legacy in my lifetime, but how do I ensure that my loved ones enjoy maximum benefits from my assets when I’m gone? How can I make sure that they do not pay unnecessary taxes? When is a trust better than having only a will? Does it depend on the size of my assets? Who can I ask to take care of my estate? Does it need to be someone who knows everything about trusts and taxes or is it better to appoint someone who knows my beneficiaries and has their interests at heart? Will I find someone that can do both? If I should die before my children are adults, is there some way to ensure that their financial needs will be looked after in a responsible manner?