I think it's mostly coming up and learning a pool of smooth conversation enders, memorize them and get use to using them. Phrases like "it's getting late, I gotta go" "I gotta go home and make dinner" "I gotta run to the store" or etc. Or whatever you're talking about, say something like "oh we should do that next time". Just phrases where it will smooth out of you ending the conversation and leaving. Rather than the just awkward all of a sudden "bye" and walking off. Observing other conversations and how they end I think will help too.
Its good to bear in mind that most other people also do not want to prolong a conversation too long, as they do have places to be or things to do. So ending conversations is definitely not a stigma. Chances are the other person also want to end the conversation and have some anxiety doing it.
The truth is strictly what the ones in power perceives it to be.
Enjoy any good things, even the little and menial ones, as you will never know what impending distresses could descend upon you in a moment.