For me, I'm a bit of a screen junkie with social anxiety. One of my blockers was negative self-talk. I would think, "They're going to get angry. They're going to ignore you. They're busy. You're going to waste their time."
I started replacing that with images of the person being interested and delighted by the interaction. That helped, but I also knew that wasn't realistic if I just walked up and blurted out, "Hi, I'm an isolated remote dev and I'd like to talk." Someone might be sympathetic, but I didn't want sympathy; I wanted people to have fun. So I started using the techniques I mentioned.
This can all be learned from books on small talk, personality psychology, social dynamics, etc. But unfortunately, it's rarely talked about or taught, at least in my circles. And people are suffering as a consequence.