[Cavernio]

The people who will judge you negatively based on everyday things you may say or do aren't the people that you're going to want to socialize with anyways.
I think you need to remind yourself that you have absolutely no idea what most people think about you most of the time, and so not only is it detrimental to your ego to think about how they might not like you, whatever you're thinking is also probably wrong. Again though, those couple of times when you find out that you are right, that that person thinks poorly of you, they don't matter to you anymore. They're mean, ignorant, stupid and judgemental. And it's not just 'not letting them get to you', because that implies a struggle and you overcome something. The struggle shouldn't exist in the first place.
Which is pretty much what everyone else has been saying; don't give a shit.
I suppose it's different if, say, the person who thinks poorly of you is your mom or a really good friend, and maybe at those times you should take a step back and wonder what you did wrong before brushing them off. But I don't think you were talking about socializing in those regards.