I've found mentally acting things out helps me. If I look at something from a 3rd person perspective I find that I can generally speak more openly and clearly. Not speaking in a 3rd person tone, just looking at it objectively as if it were some one else's problem. I guess it's a way of disocciating yourself from the situation. It works for me, though.
Also practice speaking. When you're alone read everything outloud. Teach yourself to speak clearly and well. Think out loud when you're alone so that you'll eventually learn to be less tongue tied since you're practiced in speaking.
The self-esteem and inferiority, understandable. I used to have the same problem. Still do in some situations. When it comes to public speaking, though, know what you're speaking about. Know it backwards and forwards. If you go up on stage un-rehearsed and un-prepared of course you'll be scared, but if you go into it knowing what you need to know and ready to dazzle you'll feel more confident.
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I got in a fight one time with a really big guy, and he said, "I'm going to mop the floor with your face." I said, "You'll be sorry." He said, "Oh, yeah? Why?" I said, "Well, you won't be able to get into the corners very well."
Emo Philips
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