No shame in what you say, we're not all born with inherent hand-eye coordination and musical talent. I certainly wasn't as fortunate. As you might expect, we have to work twice as hard as the prodigies.
Theory is needed. It's one thing to try to memorize a series of fret numbers, and another to realize in what scale a solo is in and just therefore have to memorize interval jumps. It will really help to devote some time in basic music theory, even if it's all self-taught. Plus, if you intend to write music yourself, it's a bit of a must. I'm not saying go all bookworm, just a basic primer.
About actual precision and speed, this will sound really lame, but it's the method that works. Do scale practises (there's a few variations you'll find in any guitar book) at a slow tempo with a metronome until you can confidently play that particular scale and its phrase variations with clean unrushed tone, and then up the metronome 5 bpm. Repeat until ludicrous speed is reached. Do both 'up-down' scale work and horizontal repositioning of the phrases.
Muscle memory needs training, it won't happen overnight (though you *will* see progress overnight in a particular lick you weren't able to play for shit when you started practising it and now magically you see your hands do it with minimal effort) so expect to put in a few hours of scales practise daily for months before your overall fluency with solos upgrades.
Mind your hands, warm up and cool down, you don't want tenontitis.
Every time you feel this is pointless and frustrating, learn a new Heavy Metal song (try not to use tabs but ear train while you're at it) and see where all that scale practise applies to: rocking the hell out.