There are many people who are not good at communicating with others. I am, too. I always get nervous and lost my word when I tried to talk to others especially when there are more than 3 people.
My husband gave me advice before. I cannot follow the conversation and often start talking about something a little different from the topic because I'm not listening to others. I agree. When somebody's talking, I was trying to find out what to say next.
He told me to focus on listneing when others are talking. If I have to talk at some point, then focus on what to say. His advice works for me so far.
Sometimes I get too nervous and freeze when I talk to others. But most of the time, I try to focus on listening first.