You know - I feel that way at times too, but mostly with friends that I don't see super-often.
I don't remember feeling that way with them back before my anxiety started - but then again, back then we all hung out a lot more often since nobody was married, had kids, etc.
Interesting that you brought this up!! I don't consider myself shy at all, but maybe a little insecure at times (?)
I guess it's natural to feel that way in some situations. Either way - I do like SRMom's suggestion of reading some self-help books. Perhaps a book on boosting self confidence might help too... not insinuating that you are not self confident, but it's something to explore