It's probably most important that you work on your self image. Just reading the OP, I can imagine you're pretty hard on yourself. Having a negative view of one's self and being overly critical is, in my opinion, the root cause of things like lack of ambition and social awkwardness. You should try to look past your flaws and to accept your situation for what it is.
Talking to people is just easier the more you do it. Just think of it as we're a bunch of apes with the ability to speak and that's nothing to be afraid of. Once you get a job and are forced to interact with people on a regular basis, this will issue will solve itself. And confidence and social skills will help you make friends.
Sorry if this isn't helpful, I'm not a therapist but I can relate to your problems in some regard.