what should i do!?!?

Ok fanpoppers i need some life advice. im 14 years old male 9th grade. heres my issue: people think im really annoying. like to the point where they dont want to be my friend or hang out with me just becuase of that. every time im around people i just start to get really crazy and like start poking someone a bunch a times or stealing their pen till they get really annoyed. the worst part is i dont even realize im doing it till someone points it out by saying "stop" or "your so annoying". even then i still sometimes do it after that. i really want to have lots of friends and go to parties and whatever and i dont want to be that immature kid no one wants to be around anymore. i think i dont realize im doing it because i get really uncomfortable around people (naturally) and like if im at a theme park and i dont have the patience to wait in line or im standing up for too long or i think my hair looks silly and it bothers me etc. that uncomfertableness makes me unable to think straight and thus keeps me from realizing that im actually annoying people. the only people who dont think im annoying are the people that are more immature and annoying than me (except this one kid who keeps calling me annoying but everyone thinks he is more annoying idk he has problems). if theres a lull in the action around people i feel like i have to say something or do something and it usually ends up being something really stupid or annoying. i dont have the patience to just sit and wait there. ive heard lots of quotes like "repetition is the basis of annoyance" and "its better to be quite and be thought a fool than to say something and remove all doubt" but it still doesent help. idk what i should do!