How to get closer to teachers?

I’m currently a freshman, and I’ve always been quite introverted. I get good grades and I’m very polite, but I’m always terrified to talk in class or ask questions. Also, all of my teachers have office hours, which I was hoping to take advantage of. However, every time I plan to go to office hours, I panic and chicken out. This is really a huge issue of mine in general and I think it’s really holding me back.
Advice would be greatly appreciated :).

Find a way to make yourself go to those office hours. When I was a school teacher, that’s how I got to know some of my favorite “introvert” students, and in those sessions I learned a lot about them that I never would have in class. Just find a way to make yourself do it once, to break the seal. After that it will be easier. I promise you: most teachers are great with introverts and very understanding. @ScoobyDooRaccoon

Thank you so much!

My pleasure, @ScoobyDooRaccoon . Let me know how it goes!

Go to office hours every week.
When you read/ do problems,/ listen to the lecture, write down any point you find fascinating and want to hear more about, or anything you have a question about. Being that to office hours.