Is it normal to feel guilty that i have "normal" friends

I know, that no one wants to be considered "normal". But what I mean is basically that they understand social conventions, ie. Make friends, talk to people, etc. I'm not really like that. I often "sperg out" as its called, although I'm not officially diagnosed with anything other than anxiety, that's only cuz I don't like talking to people much, doctor or otherwise. I feel very ashamed of this stuff. But sometimes around the company of my nice friends I will do things that the average normal person would find contemptible, because I get too comfortable in their presence. I catch myself but usually too late. So anyway is it normal to feel bad when "normal" people like me as a friend, like my behavior lets them down but they feel like they can't say anything bad about it since we're friends?