Do you ever rethink about some social interactions you had and realize you said something that was inappropriate or that could be interpreted differently ?

Today I was on the phone with a user and said something too familiar and instantly regretted it. I also realized later when rethinking about a situation where coworker complained about a problem with their computer that I made a joke and it could be interpreted as insensitive and unhelpful. I regret it and I now feel frustration for not noticing it.