It's really not rocket science, I am a bloke and certainly not in the Brad Pitt bracket when it comes to looks, but in my younger years had absolutely no trouble talking to women.
Didn't require asinine pick up artist skills or that ridiculous negging concept either. To the OP's less attractive friends the secret is simple be personable, friendly and fun.
Right from when I was very little I have always liked people, men, women, old or young I'll have a nice chat with anyone. All that is required is to observe non-verbal social cues, and only interact with people who are in that frame of mind.
If you make an effort to provide value to other people, you'll be rewarded with a solid circle of friends (of either gender), you'll find romantic opportunities will practically present themselves half the time.
Whilst I can relate to the experience of seeing an exceptionally beautiful woman, and feeling a bit nervous, trying to put all that out of your head in a zen like way and just stay the course and stick to being an all round fun and friendly person is a far healthier mental space to be in than unhealthily fixating on one woman who you wish was sending you signals but isn't.
I've seen some creepy men in my time too, once I was out drinking with a guy and gal pal of mine, she went out briefly and returned with some random guy flashing that wide eyed "who the fuck is this guy?" expression, so I sat up and offered her my spot so she was seated between me and our other friend. This other guy started banging on about tactile touching in a creepy way and then proceeded to put HIS head in MY lap so the top of his head was touching the top of her thigh. I cried out "Dude! I expect dinner, and flowers at least before you stick your head in my crotch!" And sent him packing with his tail between his legs. Now full disclosure I think I've come across a statistically negligible number of creepy woman, like one time a girl I didn't really know dragged me onto a dance floor with her teeth, and whilst yeah she was attractive it was just way way too off putting. However creepy men are legion. Socialise amongst both genders and it's self evident.