It seems like there has already been a fairly complete set of answers, but I'll toss in my 2 cents anyways.
I used to be very shy and was always tongue-tied when talking, especially to strangers. But I realize now that it was because I was worried of what other people thought of me, and I was afraid that they would judge me negatively because of anything I said. Identifying the problem really helped me, because I changed my mindset (not overnight, of course) to "Hey, this is what I have to say; if you don't like, too bad". It's more of a "I don't care" attitude.
But that's not to say that I don't care at all - theres a balance of acknowledging other people's feelings and helping your own self-esteem. The fact is, people weren't judging me based on every little thing I said; it was the general feeling I gave to them over a long period of time. I'm certainly not 100% cured but I think I've definitely gotten on the right track.
Hope that helps some
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