Or for a less traumatic approach: read a few books or attend a few workshops, then practice what you glean inside your existing relationships.

The books and workshops that are most helpful for you will be personal. To learn interpersonal communication techniques, try browsing the management, relationship, and self-help shelves for something that stands out. Similarly, management training/workshops and therapy groups can be very helpful.

If you just want to articulate your thoughts more clearly in writing or speech, look in the writing or public speaking shelves and look for writer's groups or Toastmaster's meeting.

Most of it comes down to practice, but there are innumerable resources that will help need to figure out what you need to practice. Few of them will lead you astray, so don't overthink it and just dive in.