This is cliche and is much easier said than done, but try to ditch the low opinion of yourself, stop the analysis and negativity about how much value you would bring. And try to stop worrying too much about what other people think. Don't set out trying to find friends, set out finding something enjoyable or worthwhile to do that involve other people.

Find some hobbies or get interested in something, and join a social group related to it. Or join a volunteer group or two.