Everyone else can casually suggest coffee chat but I freeze up every time

I know a lot of people can do this and they would suggest me to plan coffee chats. I constantly watch the conversation like "We should grab coffee!" and plans are made. They make it look so natural.

But when I try to say I starts overthinking. Is this too forward? Will they think I'm weird? What if they say no? So I just... don't say anything. And then I go home annoyed at myself. I didn't move a step forward again.

I know it's not a big deal for a lot of people and coffee chat is common. But in the moment it feels impossible to get the words out.

Anyone else struggle with this? How should I adjust my mindset?