I, too, don't want to deal with people. My reasons seem a little different though... Mostly lack of shared interests. They tend to cling to annoying things or things like who got traded to what team, or who dissed who, or who got the rose and it was so romantic I can't believe it they're truly soul mates forever and ever and happily ever after squeal and they all insist on 'hanging out', which seems to involve sitting around for long periods of time doing ABSOLUTELY NOTHING. Drives me up a wall. I need mental stimulation, and to get up and move around from time to time. I'm an outdoor cat, not a sit-for-six-hours-at-a-bar/mall/basement-waiting-for-someone-to-say-something-interesting-cat. I'm bored and annoyed, they can tell I'm bored and annoyed so they get annoyed, and...yeah. There are very few people I can connect to on a good friend level, and one of them is my girlfriend. Introvert, completely.
But in your case, well, one thing to keep in mind is that there are billions (yes, billions) of people out there whose first thought upon meeting you will NOT be something along the lines of "How can I take advantage of this person?" Most of them don't care, they have their own problems. A huge number of them would help in an emergency, though others won't because of fear/embarrassment, not wanting to be singled out or targeted, etc, and this changes for each person constantly. The number of people who are actually malevolent is very, very low. It's just that there are so many people in the world now, you run across that type far more often than they did in, say, the 1950s. The news doesn't report on all the people who weren't viciously murdered in cold blood every day, after all. They don't report on all the people who aren't out to rip off everyone around them either.
Of course I'm in the same boat as Chris P, so what do I know. My solution seems to involve struggling to find some common ground with the people around me, whether general intelligence level, education, movies, games, books, upbringing, outlook on life, etc. I've learned to avoid politics, religion, and music, the last of which I have added to the list of forbidden subjects as it causes almost as many intense arguments as the other two. Best friends like you see on TV would be nice, but I'm just not built to hang out with the guys 24/7 so I don't try to force myself into that. I'm better at good acquaintances.
But anyway, it sounds like the main symptom of whatever your real problem is is that you judge everyone. Basically, stop doing that. It won't be easy, but if you want to get out of your self-imposed prison, you'll have to. When you find yourself writing somebody off, stop yourself and try to find something about them that doesn't reinforce your judgement. People are complex things, and what you see the first time you meet them is never the whole story, or even half of it. People are usually not at home what they are at work, or on the highway, or on social media. It's just what they're showing at that brief moment in their life, with all their worries and history and self image and the image they're trying to project and the stresses and thoughts and insecurities of the moment pushing them, and that is all it is. I'm not saying hang around terrible people, but try to look deeper. What someone does today is not necessarily what they'll do tomorrow, which itself is not necessary what they'll do a week later, or a year later. Some of the most interesting people I know made terrible first impressions.
You have to put yourself out there and give people a chance, but most importantly, you have to be willing to meet them halfway. For a lot of us it's not easy at all to open up that way, but it's something you have to do or you'll never grow as a person.