Guild Wars 2

Hello everyone.
As stated in the title, GW2 is my first MMO. I’ve never had much MMO experience, but I am definitely an RPG type person. I’m having a great time on GW2, but I feel like I’m playing it as if it’s a typical RPG. Currently, I have a level ~40 warrior (and several other lower-level characters), and I’ve been soloing the whole thing. I thought it’s be a good idea to join a guild, meet some new people, hang out, and do some other events.
I’m on the Ehmry Bay server. I’m an extremely casual gamer, and I would definitely like to join a guild that’s casual, friendly, and not too strict. In the end, I just want to have fun without people being up on each other’s back about why you didn’t do this or that, etc.
I’d like to participate in guild events, WvWvW, etc.
I’ve never heard of Teamspeak nor Ventrilo, but after doing some research, I guess it’s something I’ll be willing to download (I think it’s free…?) and try out, but I hope it’s not mandatory.

Sorry for the long post, and I’d appreciate any information on any available guilds.

Thank you!