The goal isn't to imagine that every exchange is an opportunity to make a friend and build a relationship, although that is true. It is to build a respect and appreciation for reading and giving social cues.
At some point you will be faced with a great opportunities to connect with others. Nothing is worse than unwittingly making people responsible for your needs by being unable to empathize with others because you're so focused on trying to make it work and get your needs met.
when you play boardgames you talk to learn the rules of the game and you use the player interactions that make up the game.
when you volunteer you talk about the work needs to be done.
any hobbies or sports you talk about how to do things.
you make connections by frequently interacting with the same people. do it long enough, be a reliable helper, and you'll make friends.