In addition to learning all the scales and modes and how they relate to the harmony you also want to learn and practice arpeggios, extended arpeggios and interval exercises and how they all relate to the scales and harmonies.
Create really simple solos to begin with. One note per measure is more than enough to make a statement if you choose your notes wisely. Choosing notes that are within the underlying harmony always "works". Make them more complex as you get a handle on what your doing. Add other chord tones, superimpose a D arpeggio over a Gmaj chord, if your moving from a G to an Am chord toss in a G# just before the move to create a little tension.......
A little understanding of music theory will help you out a whole bunch.
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