Well your poor communication skills could be because of different reasons, and i can't see from your message what type of communication problems you have. So il just fill in the most common issues in communication skills,
Lack of confidence can lead to major communication skills, people can stutter or forget what they wanted to say or even go completely silence like a statue. This can happen everywhere or with anyone, but there is a easy way to work on that.
What you need to do before a critical moment, is creating a small goal in your mind and do that while nobody can't notice it. Like giving yourself the goal to take three times a deep breath. If you do that before any type of social meeting, then your brains will be rewarded with dopamine, what will make you sharper and more in control.
Next part is, you need to know what people are talking about. It's nice to tag along with a group who are talking about what ever, but if you don't understand what they are talking about, then it's difficult to join the conversation. That saying, you need to enlighten yourself with knowledge or information.
Next, we have a saying: Know what you say, but never say what you know! Which means don't talk to much or you will lose yourself in the conversation, or miss the point of the conversation.
Next is, learn to recognize the difference between a false argument or a fallacy and a legit argument, they are a huge difference what anyone can overlook if they never learned what a fallacy is. Check out this site and see what a fallacy is, and how you can protect yourself when others use a fallacy.
Like when 10 friends laugh about a false argument because they thought it sounded funny, can backfire if you expose that they laugh about a false argument, if you can explain it! To make it sound stupid to laugh about a false argument!! https://en.wikipedia.org/wiki/List_of_fallacies
Last is, train your social skills every time you get the chance, because exercise can make anyone a artist!
There are specific things you can do to improve your communication skills:
Effective communication is a skill that can be acquired. Therefore, following the few tips listed above, you will improve your ability to communicate effectively.