How can I convince myself that my friends don't hate me? I have this irrational fear that they actually hate me.

Get some help. Talk to a close friend, or family member. Or get an anxiety app! That would decrease your ability-social anxiety!

ask yourself why would they hate you, if you see no reason for this then it's as you said an irrational fear, and nobody is hating you

Sometimes, you need reassurance that you're not annoying people, or that they don't hate you. Remember that they chose to be your friends. They want to be with you. Think of how you feel about them, and know that their thoughts towards you are probably not all that different.

The fear is common, I believe we have always felt it because of small acts that apparently demonstrate so, but is important to remember that in the case that they hate you, they would just leave you. Hate is like drinking poison and hoping the other person dies. If your friends would do this, then the harm would be for them, and besides, I know they don't. You are an amazing person, why would someone hate you?

I think that this is something a lot have people experienced before at least once--when you know someone likes you, but sometimes we tend to dwell or convince ourselves that they don't. Something that works for me is trying to think of or remember the times I was absolutely certain they enjoyed spending time with me, or they actually told me that they did. Write them down, or repeat them to yourself in your head. It feels kind of silly, but when we have irrational fears, sometimes the best way to get rid of them is to make them go away by reminding ourselves of the truth.

As hard as it is, talking and sharing your concerns with your friends might make you feel better about them

Talk to them in private, especially the more close ones, and maybe explain your situation or at least express some concern without exposing yourself too much.

Once I asked my best friend I had no idea why they would even associate, let alone be friends with someone as terrible as myself. She told me that she felt the same way. Ask yourself: Do you hate your friends? Only when you ask yourself that question can you begin to see how there is no way someone you trust enough to call a "friend" would ever change when you turn your back to them.

One way would be to confront them, since a lot of people experience this fear, they'll understand and convince you of the truth.

I always find that meeting up with people one on one can reinforce friendships and it has helped me realise that people really do like me on many occasions. In these situations there is no space to feel left out of conversations, and you'll soon see that your friends really do care about what you have to say.