I think that if you're not good around other people then it just shows that you haven't gotten to know yourself very well because we should be comfortable meeting and greeting other people. Try a course in gaining self confidence or raising your self esteem.
Far from it; it has nothing to do with self esteem. It is more of a personality trait than any other thing. I have never been good at making friends at the first instance plus I realized that there are quite a number of people like me.