Oh yes, I do that all the time too. I keep asking myself at the end of a day if I said something wrong, rude, stupid or all of the above, and I struggle to remember the exact things I did and said and what were other people's reactions. I think I said something awkward to every single person I know - and this makes me feel really ashamed everytime I talk to that person.
The thing that sucks most is I don't think awkward things pretty often, but what comes out of the mouth is totally different from what's happening in my mind...that's way sometimes I wish we could communicate through telepathy.