Just do it. Start inviting people over or start saying, "yes," when they ask if they can come over. The more you do it, the easier it is and the better you'll be at it. I'm still working on this. Keep your main living area tidy so you don't have reservations about people coming over. How to Quickly Prepare for Last-Minute Guests Have some popcorn ready to pop or cookies in your freezer so you have a quick treat when people drop by last minute.