Peer pressure works. Just asking people to vote increases turnout. Some of your friends and family may not plan to vote. Talk to them! Your words will make a big difference.
Here's a template you can copy and paste:
Hey there, swing stater! I just wanted to remind you to go vote today!
You can find your polling place here: https://www.voteplz.org/vote/polls/
If you're all set, use this to tell your friends to vote, too: https://friendsinswingstates.com/