So I'm the kind of person who doesn't really struggle

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So I'm the kind of person who doesn't really struggle to talk to people. I'm quite confident, I can speak to most people I meet and I'm not too bad at making people laugh. I can socialise temporarily on the basis that it's a quickish interaction that won't need constant management for it to succeed.

I have a small and close group of friends who I have known since school. We are very fortunate in that we can see each other every few months and things will still be great. We live a fair distance from each other, so we have to plan in advance.

My issue is - when it comes to making new friends and arranging hangouts, I'm just the worst. Not only do I avoid making the initial suggestion of arranging something, but if I do manage to suggest an idea, I sit in total anxiety regardless of the outcome.

It's like I'm terrified of potential rejection, or that person avoiding hanging out with me. I feel really social at times, so start trying to arrange more things and by doing that, I make myself a ball of anxiety to the point where I feel so bad about myself that I don't feel worthy of seeing people.

How can I get over this, and learn to ask people out without the fear of rejection?