I do envy confident, outgoing people as well. And as long as they're not the arrogant type I can admire them as well. But I couldn't be friends with them. I would always be worried that they'd find out how boring I am an dump me.
I remember this one person in particular. He was actually my boss and he was a super outgoing, talkative person. Totally gorgeous, too! I loved watching him and listening to him in meetings, how excited he got about things and happy to share it with his team. He was a great guy I admired!
But I had absolutely no wish to be closer to him, even though I might have had a tiny bit of a crush. He just wasn't really my type (and of course completely out of my league anyway).