Using people for education

I have ADHD inattentive type and a learning dis. I can't sitting through any kind of lecture/conversation at all. My mind just goes else where. I also, I find there is absurdly low signal to noise ratio in lectures/conversation. I find that people talk off point a lot and go on tangents, make small talk. I really just want people to get to the key points. I also wish people explicitly stated key points, why don't people do this? Anyways sorry....

I've gotten through college/life basically using people that went to lecture to get key information. I find that it saves me a lot of time and unnecessary pain going to lecture. However, I think I come off as cold to the people I go to. They usually look at me, get annoyed, and say "didn't you pay attention?," "did you not hear anything I just said?". I also have trouble reading so I do the same. I find that people are usually willing to help, to a point. It causes me some emotional pain. But I've been doing this forever and it's really effective. I guess I'm looking for a way to resolve this emotion of guilt, and worthlessness/inferiority. I feel like I'm not officially retarded, I just have trouble extracting information. Once I can get it extracted, I can process it no problem. It's just the extracting part.