I'm 24 but I can't do ad lib in guitar

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I trained myself to play guitar since I was a high school student, i just learned how to play in chords but never learned to make an ad lib. How this can be made? I don't know how to do that? I am so envy to those people that really can roll their finger in the string like theirs no hardness in doing that. Is their any technique to do that??? All I can see in the internet is just scale, and more scale... I'm confuse.!!! If there's a mylotters that is really skilled in music, or in guitar... can you please give me some detailed tips in how to do a ad lib? I just want to crack that in my mind and in my heart. Please help...