take a lick or riff, maybe your favorite ones and learn to where you can do it good. Then add notes to them that sound good dont plan them out. when you play just add notes from scales or where ever. or connect two different licks that you come up with. the best way to learn to improvise is to do it, learn the pentatonics in the same key try the key of E. just improvise learn common licks that use the pentatonics then expand on them. thats kind of what I was saying in the beggining. sorry if its confusing.write again if you have questions.