Yes. When you get together in person, PUT DOWN YOUR PHONE. Texting lets you hide - face to face communication does not. You guys are only nervous because that is not your primary way that you talk to others. You "talk" to others in your text messages.
You need actual, real conversations. Talk about what's going on, what their interests are, how they're doing in class. All the crap that you text about, you can ask about - in person.
Keep eye contact with the person you're talking to. Nod and smile to show you are listening. Yes, it's awkward until you get the hang of it.