We are all social animals. We all require the company of others to feel that we are in the world. We also need moments to be alone as well. How much do you like being alone and how much do you like to spend time with others? This is an individual thing. Are you an introvert or an extrovert? Carl Jung said that there is no such thing as a pure introvert or extrovert. Such a person would be in the lunatic asylum.
Some people feel lonely but they become anxious about making a call because they think they will be seen as too needy. But feeling lonely and wanting company is different than feeling needy. One client was once so apprehensive about feeling needy, she would turn down invitations to parties and claim to have other engagements when in fact she did not. Here is a good explanation of the difference between needing the company of others and being needy of others.
Need:
Humans, like many other animals, need each other. We are social beings and we are not meant to be alone. We need each other for many things. Caring, tenderness, hugs, touch and emotional support
Needy:
When we abandon ourselves by not taking responsibility for our own feelings of self-worth and well-being, we become needy. We judge ourselves harshly, which is the opposite of loving ourselves. Self-judgment creates the inner emptiness that leads to neediness. When we are empty within, we might expect others to fill us with their attention, love and approval.
For more information on this topic
http://www.wellnesstoday.com/spirit/the-difference-between-needing-and-being-needy