Okay, I think I understand what you mean.
It's like it doesn't matter what you say, people always seem to misinterpret what you're saying, leaving you wondering if they even listened to what you just said. It's like everything you say is bended in other people's minds.
First thing I need to make you understand that this has partly to do with you. You know that, no doubt, otherwise you wouldnt ask for advice about how you should handle your friends more nicely, but where lays the problem? I'm not a shrink and you're not in front of me in real life, so I can't judge you on that. My best advice on this matter would be analysing yourself as honest as possible. When we normally judge ourselves, we distort the image a little to our liking, so we like ourselves a little better. We ignore traits we don't like, and are really blind for it, really. Most of the times we don't even know we ignore it.
What you could do, but that does sound weird and scary, but is to voicerecord your conversations for a day. Not to stalk people, but to listen to yourself talking. Hearing it from someone's else point of view. It may surprise you. I'm doing to the same for interviewing (I'm studying journalism, you see), though not in secret, but it's the same point in the end.
Also understand that people turning you down make you question yourself more, which makes you more aware of what you say. However it works against you, because you're too busy trying to say the right thing, ending up saying something that isnt sincere or genuine. It's completely natural, so I'm not attacking you on this. If you don't agree with me on this, no matter. But then definetly try out my advice above with voicerecording, to hear yourself having conversations with people. It really helps.
Something else: try to look positive at life at any time possible. These feelings you have right now can give have a negative effect on your life in general, because without knowing, you might look sad or angry or arrogant even. Instead, put on a sincere smile when you walk on the street. Not only does that give you a positive feeling in your whole body (proved by scientists) but the world around you will feel more comfortable around you.
I hope this can help.