Post-aspie guilt?

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This question goes out to those who were diagnosed later in life, however if you were diagnosed early and can still relate, please feel free to post your answer.

I just recently discovered what "Asperger's" was. It's explained many of the difficulties I've had in life. I'm viewed by loved ones as a "well intentioned weirdo." I have embarrassed friends at parties, said akward things to my girlfriend, and have had very personal, very uncomfortable conversations with complete strangers.

I've blown off dates and neglected friends, so I could stay at home and play video games.

I'm so grateful to the people who looked past my flaws and became part of my life. Thankful to the point where I'm now stating to feel very guilty and unworthy of their company. I just want to tell them that I have aspergers, but I don't think that would solve anything.

I've come to the conclusion that the only thing I can do that will alleviate this guilt, is to be the best person in the world I can possibly be. Have any of you felt the way I do? Did you tell your friends and family after you found out? How did you manage to get past the guilt? Thanks for reading, I hope you share some of your experiences so that I might learn from them.