Can I Reach A Stage Where I can Have Deep, Complex conversations with People?

Can I Reach A Stage Where I can Have Deep, Complex conversations with People? My stutter is pretty bad and it prevents me from connecting with people and having conversations with them. As a result I can't make friends easily. Right now the only way I can connect with someone is if I'm chatting with them online, because that's where I'm truly open and uninhibited. Every sentence is a struggle. I get better with practice, but it still always feels like I'm just saying.....words one by one.....formally. And I sound boring and clinical. It's like there's no zest or emotion in my words. It's just me trying to best to enunciate dry empty words. I wasn't always like this. I did have some friends in the past, who I occasionally felt like I am connecting with. But now, it just feels like I'm on my own and can't connect with anyone. When I see other people get along with each other and laugh and have a good time....I just wish I could do that. On some level I have forgotten how to even do that. I think it comes naturally, but I cannot seem to do it. One of my counselors told me that I have an emotional block when it comes to people and I'm not letting my true self out. I don't even know where to start. I just want to be able to talk naturally like everyone else and connect with people. Where do I begin?