The goal of interpersonal relationships is a feeling of community. This sense of others as comrades. To get that feeling, you should make the switch from self-interest to concern for others.
You can get a sense of community by making an active commitment to the community. Take steps forward and don’t avoid the tasks of work, friendship, and love relationships. Don’t think in terms of “What will this person give me?” But rather, “What can I give to this person?”