Depends if the topic is gaining social skills or finding someone who's willing to spend their life with you. Social skills - somewhat harder to gain as you get older because the arena of party life, constant contact, seeing the games front and center fades away a bit. As for finding someone who's a match or who will be interested - I believe that does get better. Lots of people here say they couldn't find anyone, to save their life, in their teens or twenties but ended up married in their 30's, don't be completely surprised if it goes that way.
That and I'd also add this: I'm sure there are a lot of women who'd take inexperienced over battle-hardened and cynical any day. Keep in mind though, you're 21, you won't see much of anything drastic in terms of your peers changing until you hit maybe 26 or 27, even then many of them hold on to highschool right up until 30 if they can - in my own case I always felt like that immaturity was holding my life down and I was glad to see people drifting away from it, but, I can't say it works the same for everyone involved.
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“Love takes off the masks that we fear we cannot live without and know we cannot live within. I use the word "love" here not merely in the personal sense but as a state of being, or a state of grace - not in the infantile American sense of being made happy but in the tough and universal sense of quest and daring and growth.” - James Baldwin