Hi Chris. While taking lessons and ASA/US Sailing courses is one path, Colorado only has one or two places to do that. (Dillon has instruction.) You'll find most sailors are friendly under their gruff demeanor and will happily initiate a person who seriously wants to learn. Offering to help with their boat chores in return is considered good form.
Whereabouts in Colorado are you? We're in southern Wyoming and would be glad to take you out if distance permits & schedules coincide. When the ice melts. If the lakes get water. Next June.