So I would say that sounds like you're embarrassed by your own discomfort around people. It's nothing to be ashamed of though. You have nothing to be embarrassed about. Yet I know, from experience, you will most likely still feel that way. It's weird. Our brains tell us that logically we have nothing to be embarrassed about but yet we still do. We are our own worst enemy at times.

I think the key is increasing our self esteem. Having more confidence. If we were more confident in ourselves we probably wouldnt have these embarrassing feelings. For instance I still often see myself as the timid young boy I used to be. A part of me doesn't see myself the way I actually am. I sense its the same for you perhaps. Like somewhere along the way I got stuck in a moment and to this day still see myself as the person I was at that moment despite all the evidence to the contrary.

Boosting your confidence and self esteem will play a major role in getting over those embarrassing feelings.

That being said, its not an entirely bad thing to have. It shows you have a lot of humility. So one positive way of looking at it might be to say you have too much of a good thing.