See your Doc. Sounds like you have a problem that you may need professional help with.Lots of options open to you. Professional help's the way to go. Online advice is not good when it comes to meds etc. Support's the thing offered on this site. Good luck.
After reading your post, it seems that this problem really is having a big impact on your life. Sometimes we need to gain insight into why we think the way we do and that can be done with the help of a psychologist. There could be some sort of trigger in the past that is causing your anxiety today. Maybe someone told you you talk too much. Maybe someone compared you to someone else unfavorably. whatever it is, and it may be that you cannot find that trigger, a psychologist can help you with strategies to overcome these thoughts and become a confident person again.
Every reportcard I had when I was younger said in the comment section that I talk too much. Today, sometimes I feel I talk too much especially if I drink. So I will say something like, "you know, after I drink this beer, I'm going to be talking your ear off." It is a big joke now. I talk and they listen!
You need to stop overthinking your words or behavior. If they had a problem with it, they wouldn't invite you out with them. They like you and enjoy your company, and the more you open up and be yourself, the easier it gets. Like anything else it will get easier with repitition.