Be other focused, not self focused. You have to want to interact with people. You can cultivate that (if you don't have it naturally) by working towards a real interest in other people, who they are, what they like, what they can teach you, etc. Learn to listen, to ask questions, to remember names and details. In practicing that, you may find you are no longer anxious. The real benefit, though, is that you will make friends much easier and find that you really do like people and social interactions. (P.S. this will also make you better at work and any other interactive relationship.)