Unfortunate there is not try only do. Meaning learning how to speak freely requires you do it

It might help to understand what’s behind your fear of speaking freely – fear of judgment, wanting to belong, accepted, loved…. And you can work on mastering your stories – insuring you aren’t projecting your fears and such onto those you wish to speak freely with. As well as creating safe space in which to talk… I would recommend the book ‘crucial conversations’ as a guide.

Or you if you want to do something right now detach your sense of self from any outcome that speaking freely might result. Can you be ok speaking freely and accepting that those you wish to convince might not agree on keeping the place clean?

If they chose not to clean you have choices

• clean up after them,
• find somewhere else to live
• Get used to living in a dump
• continue to try to convince them you are right and take on the role of mother.