Zaydi tafsir of 4:36

Salamu alaykum,

Allah says in the following ayah to show ihsan to the ma malakat aymanukum:

Worship Allah and do not associate anything with Him. Show ihsan to your parents and relatives and to orphans and the very poor, and to neighbours who are related to you and neighbours who are not related to you, and to companions and travellers and those who you rightfully possess. Allah does not love anyone vain or boastful. (Surat an-Nisa 4:36)

How have the Zaydi commentators understood ihsan in this ayah in terms of its linguistic meaning, does it simply mean goodness? If so, could you go into some detail about what the tafsirs say in relation to what actually constitutes good treatment of the ma malakat aymanukum?