Message them and say whatever you feel.
Feeling like talking to someone?
Call them and talk whatever you want to talk.
Want to meet someone?
Ask them and meet up someday.
Do whatever you feel like doing. But stop overthinking. It consumes you mentally and makes you feel weak. When you overthink on a particular situation or a person, you're creating problems which doesn't even exist. Stop being soo harsh on yourself. You've only one life, do something about it.