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Well as someone who's actually had the same issue before I think I understand where you're coming from so here are a few tips which should help you out a bit.
1. Talk with people more: Well practice makes perfect and the more you do it the better you'll get. Observe how your responses make people behave and learn from it.
2. Body language: Well you have to be weary of people body language, it'll let you know if they're comfortable with what you're saying or how you're saying it. Observe people's body language and it'll be easier to figure out how to pass across your message.
3. Confidence: Well it's easier to communicate with people when you are confident in yourself, people pick up on that and tend to want to hear what you have to say.
4. Listen more: Communication is a two way thing so you have to be a good listener if you want people to listen to you as well.
I hope this helps.
