Is it normal to not like taking initiative in asking people to hang out?

You sound kind of insecure. If you want to hang out with friends then just ask them. That so what they are for. If you guys have a good time together then there isn't really any reason your friends will not want to hang out. What's better? Losing friends because your too scared to ask or losing friends that find that they don't like you but getting closer to people that really do. I kind of do the same thing though so I understand. Just make it a goal to ask one friend to hang out at least once a week. That sound help you.