I know how both of you feel. I've been this way all my life because of my upbringing and experiences with being shunned and bullied as a child and a teen.
You have to depend on your wits and your determination to change it. You don't have to spend the rest of your lives as introverts who feel powerless.
You can teach and train yourselves to be more outgoing, talkative even and to loosen up some. It feels good too once you start doing it. Most people react to it positively but, there will still be some who look at you funny or just flatout ignore you because they are unfriendly, arrogant jerks but, you have to shrug it off and move on and not give it a second thought.
Just be pleased with yourself that you can be friendly when you feel like it and treat others with the same respect that you expect directed toward you.
You can do this. I know you can because I know what you're experiencing and I modified myself to become this way and so, can you two.
Nobody is above you. You are just as good as those people are.
Always remember that and hold your head high and teach yourselves to look people in the eye when you talk with them.