How to get people you talk to on occasion to become your friend without being pushy or needy?

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You need to get out there more often and spend time in social groups with people that share common interests with you. People are drawn to a guy that's comfortable with himself, so start gaining your own identity and be comfortable in your own skin, of course some people will like you for that and some will not relate. If you try to please everyone you will not get anyone, trust me! Something that really helped me was whenever I was around other people, to just make an effort to make one comment to another person; some honest or funny observation about something in the room, without the expectation of a conversation, that's it! Don't try to force conversation, it needs to be natural. No matter how they appear outwardly, people are just as shy towards strangers as you. This is going to be hard for you because you're homeschooled, so you're first step will be, without breaking the 5th commandment, to let your mum and dad know that you will be going out more often now and socialising, and that this is non-negotiable. If you like a sport, join a club. If you like chess, join a chess team, if your church has a youth group, go there every week plus outings, you get the picture.