It's okay to always be the one to initiate contact with a friend. Just because they don't reach out to you first doesn't mean they don't like you or want to hang out with you.

 It's okay to always be that friend who starts up the conversation. Never assume they don't like you or don't want to spend time with you just because they don't text you first or invite you to things. Don't ever tell yourself that without evidence to back it up.

It's a two-way street and they want to feel accepted and feel like they belong just like you do, at least to some degree. You reaching out tells the other person that they are important to you. This boosts your self-esteem for stepping out of your comfort zone and helps them feel more confident in themselves. Double win and you get to spend time with a friend.