What's wrong w my son

My 2 yr old is the most complicated kid ever idk what to do anymore it's so frustrating. Can't take him anywhere cause he cries the entire time. Won't play with other kids just covers his face and runs away when kids try to talk to him. He's the same way with close family. Nobody can touch him except me & dad. He's so scared and antisocial why can't he be a regular kid!!! His pediatrician and speech therapist ruled out autism, at least if he had it I would understand why he acts that way. He would rather give up milk than to drink from a sippy cup or any cup I've tried too many. He only drinks water, I've never met a kid who doesn't like juice. And he will only drink it if I give him sips straight from the water bottle, can't be any type of cup. Why is he so special. At home he's so hyperactive, we can't even sit without him trying to climb on us and kicking us.