I feel nervous when trying to make physical contact with friends.

I (17/m) love physical contact with my family in just a platonically loving way. I always want to greet with hug, and don’t mind any contact. However, I feel nervous when I whenever I try to make that same contact with friends. Not because I dont’t want to, but I’m scared of if I get a bad reaction. Actually I can’t even bring myself to touch my friends shoulder to get their attention, or just to make contact. Whenever I hug someone, because we haven’t met in a while, it always becomes a very ligth touch, like barely a hug, even though I want to give them a big one.

What do I do? Is it normal just not to be so physical with friends? Or should I just try to make more contact and move forward from their reaction afterwards?

Note: I don’t know if people want to make contact with me, I just know that I’ve never really tried, because of my concern about it.