You never feel lonely if you're writing, because you're living with all these characters in your head.
I think that the best way to explain that is that my mother gave me all the color and character and flare and liveliness, and my father gave me all the sanity and nature and all the things that helped me be a more rounded human being.
When I read to children, I try to become the characters. It's great if you can make a separate voice for each character. Sometimes you can lower your voice with excitement or get more intimate about it: you can lean forward and engage the children as a narrator or as a reader. It's particularly important that you find the voice that you want to use for each character, because then children can imagine that person as you're reading aloud. And of course, the illustrations help enormously.
I'm never lonely when I'm writing, because you live with the characters that are so alive in your mind. And you really see them and know them and get to be friends with them.