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To get closer and more intimate we must move along that continuum in our relationship with someone.
People who work toward common goals, play on the same team, work together, participate in the same group, or play together tend to become closer over time just because of the common experiences and history they have shared.
Therefore, to get closer to someone, try to share more with them.
This continuum starts with strangers at the low end, then moves to casual friends, people who are close in only one or two specific areas, people who are close in many areas for a short time, and ends with those closest in many areas over a long time span.
They may be married, be close family members, or have an extremely close friendship.