" Something I've noticed when speaking in public and looking around at the audience (as one should to be a good public speaker) is that the majority of facial expressions will register as skeptical and unfriendly to my eyes."

That was one of the best things I learned in Toastmasters. Most audience members looked bored or unfriendly to me. Once I realized that this is just normal I got much more relaxed while speaking and have a much better awareness of the mood of a room.