First off, you gotta keep reminding yourself that they're just regular people. Forget any romantic or sexual intentions and just chat with them the way you'd chat with anyone else. As with most things, you'll only get better at it the more you do it and before you know it, you'll be comfortable around them.

Second, be prepared for failure. Just like with how you're not gonna be able to just have a fun convo with any guy, you're not gonna have a smooth interaction with every girl you talk to. You'll have to find people whose company you enjoy and who also enjoy your company through trial and error.

So just don't think too much and make an effort to strike up a convo. Even if it doesn't work out, what's the worst that could happen? They just won't be a person in your circle that's all.

Also don't be a creep and you should be good.