You also have to accept the possibility of being creepy. People have varied and different responses to things and there is no way to 100% eliminate the possibility that any given person sees you as a threat to their safety. All you can do is take reasonable precautions so that a reasonable person would not be creeped out. Keep in mind that "reasonable" is culturally-dependent, so you should pay attention to the local social norms as aspirationally advocated and actually practised. One useful thing to do is to go into a situation with at least one friend so that you can check in with them when situations are ambiguous.

How did this TED Talk affect you? I watched it, but I can't say I feel a great sense of unworthiness in my life.

Nothing is genuine if you're doing it deliberately. The longer an interaction goes on, the more likely you are to be incongruent.