Hi Brocks
That's certainly how I felt a few months ago (and I think how many other photographers feel initially as well)!
I suggest practising candids in places/situations where people expect to be photographed - eg historial re-enactments. I found that helped - as does a big smile and a thank you when/if you are spotted. I've had some great chats with people I've taken photos of, it can become quite a social event! As you can see, I like trying to get posed photos of interesting people as well as just candids.
Cathy