I recently met a new group of people. They're very cool

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I recently met a new group of people.
They're very cool and friendly. They've been very understanding with all my anxiety and insecurity issues. They're very good people
However, in the background, part of me doesn't stop screaming to just cut contact and get away from them. Even when they're really understanding, I feel like a burden by my sheer presence alone.
What stops me is the thought that I'll leave behind a horrible image of me in their minds. They'll keep talking about this weird guy who behaved very weirdly and just disappeared one day for years to come. But then again maybe it will be better than the stress of being in company with other people.
Why do I always fuck up. Why. Why do I always let people down. Fuck. I hate this.