I am also socially awkward and uncomfortable. I've never had an opportunity to push my social comfort zone in any of my lucid dreams so far (because I don't have them very often) but I notice that 'lucidity' helps me while I'm awake. If I'm socially uncomfortable in a waking life situation, I focus on being completely present and I basically pretend that I'm lucid dreaming. It reminds me that life is very similar to a dream and it helps me realize that I'm safe and my fears are unfounded. It also helps me stay in the moment and not getting swept away by my anxiety. It hasn't fixed the problem, but it does help me manage it. And technically I'm using it as a dream sign, so theoretically it should help me become lucid when I'm feeling similar strong emotions within an actual dream.

Stephen LaBerge is the well-known author and leader of lucid dream research.