Your problem is in thinking that people want to hear you talk. All talk with everyone is only a prelude to sex. If you don't ever actually have sex the tension rises to such a degree that you and the other person will be unable to stand each other. This includes family and is the reason that as you age you start to fade away from them, but if you only fucked them things would of course become perfectly natural, as this is the natural way. Once you realize this you can skip talking altogether, only using it skillfully as the foreplay that it is (which can only be done when you can actually skillfully conversate), and get straight to the sex. This doesn't mean that you rip off their clothes and get straight to business; what you must do is escalate with kino: brush a strand of hair back, touch their arm, the small of their back, hump their leg, punch them in the face if they're into that, but generally start more subtly and slowly with simple touches. Then of course continue to escalate into such things as hair-sniffing (unwashed hair can smell subtly like a lovely cheese) and armpit-licking, you understand; an instance of such escalation in my own life was when I took this girl's braid into my mouth and sucked it like a phallus, but I'm not gay. Now shortly you will indeed proceed to sex. So as you can see conversation is actually unnecessary, it's merely something you can do to make things more exciting by prolonging the inevitable sex.

As for what you can do to conversate skillfully, the first thing is not to overthink it. A couple tips are to repeat what they said, ask simple questions, I mean the first question that occur to you, remark inanely on your surroundings. Let them do the talking. Really like I said talk is just foreplay so don't put too much thought into it, the sex is all that matters.