Well, you're not shy when it comes to your family most likely because you've been around them your entire life. Whereas, with your (guy) friends, they've only been around you for so long. As Jaim said, it's all about exposure. If you keep exposing yourself to it (as in, videochatting, phonecalls, and being on mic), then you'll get used to it and your shyness will go away.
It may help to take one thing on one at a time though. Like focus on videochatting, then focus on making phone calls, then voice chatting. Pick your order and go about it. Splitting your attention up may make it take longer or stop you from accomplishing it at all, depending on your multitasking skills.