How to make clear points in discussion

I'd like to work on making my thoughts and ideas more clear in lectures. Often times the ideas I have make complete sense in my mind. But when I go to share in class, I tend to phrase things in an unclear way.

I try to take a moment to think about what I say and what my point is before I say it, but I feel like I never articulate my points as clearly as I'd like. I'm sure this takes some practice but does anyone have tips or ideas on other ways to work on sharing your thoughts clearly with others?

There is one person in our lectures who is AMAZING in discussions, their language is always clear, their point is clear, and they contribute in a way that makes everyone think or helps to clarify our topic. I want to be more like that!!

My issue is not my voice, but the quality of my communication and clarity in my opinions.