Just do it!!
We have recently returned from a trip to the Czech Republic and it was the most wonderful experience. Apart from the beauty, scenery, history and character of the country, it was the people who made it so special.
Everyone we met and interacted with was happy, smiling, gracious and had a great sense of humour. One example was in Cesky Krumlov. After completing a castle tour I used the toilets, we then went to one of the cafes for lunch and a couple of beers. Within the hour I was back in the toilets (cheap bladder lol), the elderly gentleman who kept them spotlessly clean, pointed to me and then to his watch, as in "werent you just here?". I answered "Ano, Pivo", which had him chuckling and nodding. I then lined up behind a busload of asian tourists for the ladies. A few minutes later I hear "psst psst" and he is beckoning me to the mens toilet. He had put out a closed for cleaning sign, and stood guard outside while I was in there. Never had service like that before.
I can only reiterate information you will find on here, such as learn a few words/phrases of czech, my partner says everyone laughed and smiled so much because of my bad pronounciation and accent, but they were all happy to help me improve my language skills, and I believe they appreciated that I made the effort. Go with an open mind and heart, and you will have the most memorable holiday of your life.
I was not sure what to expect as a lot of what I read gave the impression the people were abrupt, rude or generally not service orientated. Our experience was the complete opposite, not just in Prague, Cesky Krumlov or other tourist areas, but also in places such as Klatovy.
Thanks to everyone who provides advice and help on this forum, it helped a lot in our planning.