Does being single matters ?

I am 20 (Male) years old and I have never been into a relationship neither I am good in interacting with girls so I also don't have any female friends, do have a few female classmates whom I barely talk to when we perhaps cross paths. Recently I was hanging around with my friends and they brought the topic of how their relationship is going etc... and then out of no where they started to ask me why I am still single, never asked a girl out etc... and it was really uncomfortable. This isn't even the worst part even my elder sister and mother tease me because I am single, although I know they are mostly just joking around or just pulling my leg but still somewhat I really feel bad about this. To be honest I am scared to interact with any girl (not in social media that's a totally different thing), I get too nervous even someone tries to talk to me and it's really annoying. I went to all boys school so maybe that's the reason I don't know, but I do get scared a lot around girls in collage, institute, and even while traveling... I don't know what should I do to escape this anxiety. Is their anyone else who has experienced anything like this ?