In this paper, we study the problem of optimizing the performance of multiuser millimeterwave (mmWave) communications in three steps. The first one is given by the use of a new pilot mapping to reduce the inter-user interference effect and to perform more accurate channel estimation. In the second step, we designed a hybrid receiver that, based on the accuracy of the channel state information, chooses between the minimum mean square error (MMSE) and the multiuser regularized zero-forcing beamforming (RZFBF) receivers, to combine/precode the massive multiple-input multiple-output (MIMO) signal. In the third step, we propose to improve the beam direction with a slight change in the azimuth angle during the uplink communications to increase the multiuser efficiency and reduce inter-user interference. Numerical results show the performance increase using the proposed solutions in terms of the spectral efficiency by comparing the MMSE, RZFBF, and hybrid receivers. INDEX TERMS 5G NR, antenna array, beamforming, channel estimation, massive MIMO, millimeter-wave. Research position with the Research Group on Telecommunications, Tecnológico de Monterrey. His current research interests include, FPGA-design, nonlinear RF/microwave device and circuits measurements and behavioral modeling, digital predistortion for power amplifiers linearization, and digital signal processing solutions for efficient wireless communication systems. He is a member of the Mexican National Researchers System (SNI).