Is there a way to have a better handling of words when expressing one's feelings?

I just got the idea and thought that some people can have their way with words naturally and others can’t. I’m talking about expressing one’s feelings not only love confessions but in general.
I mean sometimes you want to tell somebody something but can’t find the right words to express it, you can even use the wrong words causing misunderstandings. For example when you refuse something offered to you from someone, the way in which you say your “no” may or may not hurt that person and that’s just a simple example (although it is referring to how to be polite). Well I am talking about general conversation not just saying yes or no, I hope I am giving the right point…
Anyway, I know that happens with most people sometimes but it happens more frequently with some people than others.
So I wondered if there is a way to improve the way in which people use words in order to minimize the probability of hurting the others due to being incapable of using words correctly.