Hi there! In my opinion the best way to start communicating with people (the way you'd like) is just practice. With someone. I tried to find here someone to talk to by phonecalls or using videochats but I haven't succeed. For some reason most people who stutter just don't want to improve their speech. They talk about how miserable they are and how they want to get better. But then, when we make an appointment to make a phonecall they disappear. This happened a lot! I found on this forum just one brave guy from Germany who wasn't afraid and we occasionally talk to each other. And this helps (at least for me, I never asked him). I'm open for any communication, if you're interested in practice, please let me know. So, yeah. It's very difficult to make a first step :)