Do you have communication issues when even not anxious?

Personally, I genuinely do not know how to communicate with another person. I've always been this way. Half the time I feel like I have to recite and/or memorize what I have to say to the person before I say it. I don't know how to react to things, so I tend to repeat the same facial expressions or phrases over and over again, wishing for the conversation to end.

Even when I'm excited or happy, I don't know how to react that way outwardly like the average human being would, so I tend to copy how everyone else is reacting. Sometimes my friends would show me something they considered exciting or cool, and I'd just follow the way my friend reacted just to please them. Because I don't know how to communicate with people.

Is this normal with social anxiety? Sometimes I feel like my inability to communicate triggers my anxiety, and it isn't my anxiety that makes it hard for me to communicate.