How old are you (that might be part of it)? If you are a teen or adolescent, many kids are embarrassed much of the time, just as a matter of course. Truthfully, if you were doing good things specifically in order for people to see that you were doing them, I would wonder if you wanted their praise and were doing it for “show,” so doing them more privately is not a bad thing necessarily.
Davening should not be in that category. We all daven, and we all have to and need to. So unless you are shuckeling a little too fervently or davening in a very loud voice both of which would make people stare, I think you can safely do it even when other people are around.