Why am I so afraid to reach out to people in fear I'll bother them?

I really need to put a stop to this, as it's affecting the time I get to spend with family and friends (and we all know that this is not an unlimited resource), and it's also preventing me from forming more connections with people.

It doesn't matter how much I absolutely love someone and love spending time with them. My brain always makes up excuses not to initiate contact with them. My first thought is that I'm bothering them or that they don't want to see or hear from me, even if there is no evidence to prove this and quite a bit to prove the opposite.

I'm always afraid that the more time people spend with me, the less they'll like me and that I'll lose them. I'm afraid of closeness, even though I deeply crave it. There's really no reason for me to still be like this, but it started when I was a teen and had a hard time socially, though I've long since outgrown that and there's no reason for me to still feel this way. I'm actually very well liked now, but once I know someone likes and enjoys spending time with me, I'm so afraid I'll somehow ruin it by annoying them with my contact that I wait for theirs instead. I know this isn't right, and that relationships of all kinds are a two-way street. I just have it in my head that they'll find me annoying or bothersome if I contact them, even if there's no reason to believe this.

I really love the people in my life and want to enjoy the time we have together. How can I stop this?

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I think this belongs in Family & Friends, not Relationships, but not sure how to change it now.
Why am I so afraid to reach out to people in fear I'll bother them?
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