How can I get more comfortable with people?

I feel like I am capable, because there are is a very small number of people that I am pretty comfortable with, can talk pretty normally and smoothly, and actually feel pretty normal and even cold, rather than feeling inferior or guilty or out of place, like I do with 99% of other people. You know, its easy for me to lose my composure after a while, because it just wears at you. I just want some tips on how to be more comfortable with people. That doesn't mean getting closer to people, because, for me that just makes it more difficult. There has to be a certain distance, without pressure to get closer, but also enough familiarity.