I was just at my bf's house and his grandfather came by, bf's mom came home from work too and said 'Hi how are you, you remember grandpa? and he also said, 'Hi how are you?', and I said, 'Yes, I'm good how are you?

' They were just smiling standing there, I was just smiling standing there, while my bf was putting on his shoes in the corner. His grandfather said 'O the quiet one!' and my BF's father said 'there only quiet one here!' and his sister laughing (then his whole family started LOLing at me)
In my head, I was thinking 'Yes I know, the man who can walk miles even though he's reaallly old.' I want to tell his sister to stop acting like a rich /smart girl and talking about her $300 bag and going to the islands this summer because I saw her financial-aid letter (on the table) and I heard she didn't pass her recent entrance exam.
I would never say the above things, but I would like to say some things like: "Yeah I know you, I heard you can walk miles and youre fit for your age". I want to be mildly sarcastic all the time, but some people don't take sarcasm well, that's why I'm sooo quiet, I shut my thoughts up. all of it. I'm afraid they'll think I'm mean or I don't want to get in the way or look stupid.
I'm a very sensitive person I'm putting my thoughts up here and it was hard, I would never say this to anyone in person, so don't judge. how would you encourage me to become an outgoing/outward person, the general saying 'be yourself and don't care about what other say' Any informational advice from anyone who understands and are not judgemental?
I kind of only want to be sarcastic and open to those who opened themselves up to me (either by saying something personal or sarcastic to me), otherwise I'll be talking about general things like weather, news, How was Your Day, etc.