Hello heavenbound1984.
None of us know how to express our selves to God "properly". If you are speaking to God He knows what you need and what you wish to say before you even try and say it. The Holy Spirit aides us in speaking with our heavenly Father. God wants us to talk with Him, and loves it when we do.
A parent doesn't expect their child to speak to them in the manner of an educated college professor. A parent knows that their five year old doesn't have the vocabulary nor the skills to do so. Does that parent love the child less? Are we not in the relationship of a child with God?
So you feel like you are talking with yourself. Join the crowd. God never promised to talk with us in words nor e-mail. If you expect a verbal answer you will stay disappointed. Those who hear voices are hearing a demon. Or are mentally ill. God has promised to talk with us through His Word, the Bible. Prayer is built on faith. You use the faith the Holy Spirit has given you to have the courage and abillity to speak with the Lord.
I also find it difficult to speak to others. We all do this type of thing differently. It may get easier with time or it may not. Not everyone is a great orator. Our function as a Christian is to offer others the opportunity to come and see what a wonderful God we have. You have not been told to beat them over the head with a stick, annoy them, or to use other such tactics.
You improve your walk with God by reading His Word, by going to church and paying attention to the pastor during the sermons, and by receiving the free gifts offered to you by God such as baptism and communion. Remember, you can do nothing. God does it all. So relax.
Pax