My stutter really annoys me

My stutter really annoys me I stutter when I talk to people, if I'm by myself I can talk fast and fluently. I also stutter less with people I'm comfortable with and can be more myself with. I stutter alot when I talk to my parents or someone new or I'm not entirely familiar with. So ik it's anxiety based. It also came and went when I was younger, like for a short time when I was 6 to about 8 I started stuttering then it stopped then it started again and stuck when I was 14. I'm 20 now. I feel like such an idiot when I can't say my name when I greet someone