how do you make relationships with women when you have social anxiety, low self esteem and are shy

this is me unfortunately, my life has been very hard, i have a personality disorder that i manage, i'm in my 40s now and there is a woman on my facebook account who showed an interest in me, but i do not know how to take it forward because of my social anxiety, shyness and low self esteem, plus, i'm afraid of rejection....so for those reasons ive stopped messaging this woman for a few months, but i really do like her, but i just don't know how to proceed with her, she is in her 50s.

i'd appreciate any feedback, i am also a lonely male as i've never made any adult relationships so far.