Why am I like this!?

Ugh, for as long as I’ve known I’ve had mild to major anxiety. I overthink everything, always beat myself up over the little things I didn’t do, or did wrong and constantly think about what I said and how I said it. I’m always worried I said something wrong. Today, I just said something out of habit and I made a joke and apologized and the guy laughed with me and went on like normal (the guy is my cousin) but now it’s all I can think about, I’m hoping he didn’t take offense. I feel like it’s just getting worse. I’m always so worried about what people think. Anyone else do this? Ever experienced this? Is there anyway to help this ease some?