It all depends on the relationship we establish with Allah, and also the relationship with our worship.

First of all, worship is a very personal matter, thus we must try to do either in solitude, or in a group of people who may be doing the same. For instance, either you pray, recite quran, tasbeeh etc at your home, or do it in a masjid. However if due to some unavoidable reason one needs to do these in other places (like at work, college or uni etc), one may try to find a quiet spot, where there are not so many people.

You can do your tasbeeh on your fingers, and that is not difficult at all. This way you will not have to display the prayer beeds, which may make you feel less conscious of others present. When you do have to recite the quran, try that you do not have to do it in front of others.

When one grows more regular and intimately attached to these practices the consciousness of others leaves automatically. It is like, we force ourselvs to practice the deen, and the fruit of this is a natural disposition to these practices which is caste into the hearts as gift from Allah Most High.

I hope this helps, insha allah.