Drawing... Well, I've been drawing anime since 2nd grade, and yes, that's quite some time. I think what helps the most is looking at references or artists that you look up to. Find out their style, integrate it into yours, and you eventually end up experimenting with everything that you end up with your own, unique style. Using different mediums is pretty fun, too. I've just recently gotten into watercolors last November, and wow, I feel like I it's a completely different part of art I was missing out on... And yes, I still suck at it, but it's art, so why not? (I personally have stuck to digital, pencil, and color pencil since my entire life).
Of course, there's always practicing, too. It really helps if you do sketches of real-life anatomy. Oh... sketches. Sketches help a lot, and doodles. Keeps your technique fresh. But yeah, real life anatomy. Not just humans, but also on, say, animals if you're interested in drawing them, plants, trees, clothes. When you know how get the gist of how to draw the concept as it were in it's "natural" form, you can shape it in your style... if that makes sense. But first, it's best if you have a steady hand on drawing first. Always gotta know how to draw a line before you draw a square, right?
By the way, I say sketches because first off, it's different when you're copying an image exactly as it appears than just sketching it. Sketching is more abstract, more lenient, more care-free, more... your style. You're not copying how another person's art looks like, or the shape of a real life object, you're making your own lines take the shape of what you perceive from it. And no, it doesn't have to look exactly like your reference either. It's art.
You do not, and I repeat DO NOT have to go to some fancy-smancy art school or take art classes to get better at art. It's all practice, and there's resources all over the internet (youtube is a great one) for you to learn from, totally free of charge. Of course, there's no holding you back either, if that's what you're wanting to do, but check out what's at hand for you before you decide to go for master classes. Art school is getting wayyyy too expensive nowadays anyways.