Just try talking to people first. It sucks, but it is a skill that requires practice. And know that rejection does not mean you are worth any less, it is subjective.
Yea I get it, I have a few friends and am fairly social, I even go work out 3 times a week at the climbing gym. It's the rejection sensitivity that's come from a few incidents that makes it challenging to even initiate. But yea maybe someday whenever I get over it or just push through.