Hell yes, the approach always makes my heart beat faster. In the past month and a half since being single again, I must have approached over 100 targets in sets as large as 5, and every single time, it's an effort to appear calm and relaxed.
Have your elbows bent at more than 90 degrees with your hands kinda forward pointing like this:
That helps you to be more engaging, and makes it easier to reach out and almost-touch, or actually touch someone which makes them feel like you are friendly, and you'll find it also helps you to feel more comfortable, and there isn't a huge amount of space between them and you.
Basically if you focus on opening as many sets as you can, not necessarily with targets in them, then you will quickly become more comfortable with it.