Social Anxiety?

I don't know how to cope with my social anxiety. I have no problems going out in public, but I avoid talking to people at all costs. I have a major problem with authority due to my bad upbringing, and I tend to be a "people pleaser." I try to do whatever I can to get the respect and approval of others. My girlfriend and I haven't been in an argument (we've been together for 8 months), and I think it's because I never speak up. I sit here in my cubicle at work all day, and I'm afraid to interact with my co-workers. I don't want to seem like a snob or a grouch, but I'm sure that's how I'm perceived. I am in college, and I still haven't made any friends. I sometimes don't know what to talk about with my girlfriend because I'm to focused on myself and how I'm going to mess something up. Again, I don't want to be like this, but I can't help it. I don't really have any friends or hobbies. I wish life was different and I could be outgoing and fun. Advice?