Self-Confidence

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So I recently found a flaw in myself that I need to fix but I want to talk about it here and see what everyone thinks. I noticed that I turn myself off to a girl before I talk with them, for example if I see one sitting there I say to myself nah she won't want to sit next to me she will think im a creep, which is a normal thought I guess, but recently it's leaked over to my friend group. We go to a resturant me two guys and a girl and I don't sit next to her because I think to myself she won't want to sit next to me she will not say anything but secretly hate the fact. What the hell can I do to change my mind-set and not put myself down before even trying anything? I feel like it will eventually leak out into the real world for me and not just girls and I will miss alot of chances and whatever else might happen in my life.