I think part of the problem is that some people are just more naturaly social, and naturally dominant than others. There are some things you just can't teach, and pre-learned responses will never get you out every situation.
For example the other day I was riding the tram. Across the carriage from me were two rough looking, rough speaking thug-like types. The ticket machine was next to them, and the other end of the carriage was full (because no one wanted to sit next to them) so I couldn't just move into the crowded end of the carriage without exhibiting fear.
So I sat down opposite them. A minute later one of them introduced himself (between sips from his can of bourbon) and we carried on a short conversation about the weather, and the city in general. At the next stop a few business suits got on. By now the tram is pretty full. The only seat available was next to one of these rough guys. The guy pats the seat next to him, looks at one of the suits and says "Go on then, sit your *** down!" The suit nearly freaks out, mumbles something incoherent, and moves away. The rough guy just chuckles.
The suit was obviously a more intelligent person. He had some kind of degree, worked in a cushy office job, and probably made lots of money. The rough guy was wearing old dirty work clothes, was covered in very low quality tats, probably had a drug habit and probably spent some time in jail.
Yet the rough guy was much more intelligent when it came to the interaction bewteen two people. At least, interaction that wasn't just small talk. He knew how to establish himself as the aggressor, as a predator, while the suit was unable to establish himself as someone assertive enough to avoid being a victim. Circumstances would only have to be changed slightly for the suit to have gotten mugged, because he failed to demonstrate sufficient levels of confidence and assertiveness.
And I don't think that is something that can really be taught. It's something that will only come with experience, and some people will just never get it.