I'm actually more interested in this topic because no one has responded that is in a relationship.
For the record, I am 24 and single. My interpersonal skills are sorely lacking when it comes to engaging females, gosh, I feel really embarrassed saying that with how much I can talk.
As cliché as this sounds: You're young, don't worry about it. I have been through the same situation as you are in right now, at around the same age. It took me and my best friend (yes, we decided to not be together) about 8 years to figure out our relationship. I can't speak for your situation as I don't know it, but all I can say is keep an open communication and you'll be fine. Be ready to accept it not working out, because that may be the case.