I never socialised much as a little kid, and as a result I'm not overly social. As far as I can remember, I've never been consciously lonely. Nor have I ever been very good at empathising or offering advice, partly because I don't want to hear about other people's problems, and because my solutions usually boil down to 'man up and keep going'.
As for your feelings, it sounds as though you may have an underlying issue behind them. Maybe you could discuss them with your family, or if that doesn't help, a therapist? It sounds a little extreme, but hey, it might help.