Learning a new language... with mistakes

Sometimes we try to "put a language into another language". I've seen people doing that, and I am one of them those people sometimes. 
When we're learning a new language, it comes accompanied by a peculiar way of speaking. When I try to express myself in English and I can't find right words, I try to transfer a phrase from my mother tongue to the English, but such an action isn't always successful and I am misunderstood by people. It seems I am making a salad of words. I know that mistakes are a part of the process of learning, but I feel upset when a person can't understand what I saidam saying. It seems like I took a stepped back on in my learning. 
I am learning English without studying grammar at all, and sometimes I don't feel myself quite prepared,. I mean, I feel insecure to about writing or even to speaking something, and I know that to learn another languages we need "to put the face". Oh, see! I did it again!