I need to learn to talk more

Talk more?

On a more serious note, take an interest in the people around you, ask what they're doing this weekend / what they did last weekend / if they have kids ask about them / if they're into sports, ask them about that. The more you learn about your colleagues, the more areas you can provide commentary on

Like the above advice, show interest in people. An easy way to do that is to ask coworkers about their career paths. you can glean wisdom from seeing another career path, and you will also learn about your coworkers.

It may seem a little bit forced at first, but try coming in to work each day with a couple go-to conversation topics. Could be the highlights of a sports game or some local news event, anything really. That way if you're stuck alone with someone, you have an easy conversation starter and you don't have to sit in silence.

Are they referencing socializing or giving your opinion?

If they want you to contribute your opinion on work related projects, issues whatever... That's one thing. Perhaps a big thing that needs to be properly addressed.

If they want you to socialize with colleagues more then have lunch with randos and just go ask people questions about their lives.....

Quick and easy fix is whenever you get and leave the office greet everyone on your team assuming your team isn't massive. Greet them 'Good Morning' or something simple like that and on the way out tell them to have a nice night. From there you can branch out to things like: 'how was your weekend' '

Any plans for (insert holiday)

'did you catch the game?'

Any small talk about the weather etc.

Do this for about a month and you will have a somewhat decent relationship with most of your team.