This paper considers the joint optimization of precoder and decoder for both uplink and downlink transmissions in multiuser multiple-input, multiple-output (MU-MIMO) systems. Focusing on the scenario when an improper constellation such as binary phase shift-keying (BPSK) or M-ary amplitude shift-keying (M-ASK) is employed, novel joint linear precoders and decoders are proposed to minimize the total mean squared error (TMSE) of the symbol estimation. The superiority of the proposed transceivers over the previously-proposed designs is thoroughly verified by simulation results.