H-Bridge MOSFETS getting hot with no load

I have the following circuit:

The circuit is working fine, but the problem is that when there is no load, the IRF9540 are getting hot. When they are in load, they are cold. For sure, I think it's a problem with the gate-source resistors.

I measured the voltage drop between G-S on the IRF9540 and I have the following values: -3.5V in no load and ~-11V in load.

I don't know how to tune the circit to remove this no-load heating, so I'm asking for your help. Thank you !