The reason irrational numbers are so hard to grasp is that the rational numbers are already dense: In an arbitrary small region around any rational number you'll find infinitely many other rational numbers. In particular, if you have a rational number, there is no "next higher" rational number. Therefore it intuitively seems there's no gap left in between for even more numbers.
But it turns out that there are such gaps, although you cannot label them with a single pair of rational numbers. This is unlike with the integers where you can clearly say "there's a gap between 0 and 1, where more numbers can be filled in."
To specify the gaps between the rational numbers, you have to specify not just one pair, but a whole sequence of pairs.
For example, consider the square root of two. It can be proven that there does not exist a rational number whose square is 2, and you surely already know that proof. But is this a fundamental problem (like the fact that there is no number $x$ such that $0x=1$) or just because we are missing some numbers?
One thing we can find for sure is a rational number whose square is less than $2$; for example, $1$ is such a number, as $1^2 = 1 < 2$. We can also find another rational number whose square is larger than $2$, for example, $\left(\frac32\right)^2 = \frac94 > 2$. Since for positive numbers, $x>y$ implies $x^2>y^2$, so if we assume that this should hold also for those "extra numbers" (which we term "irrational" because, well, they are not rational), we get for the (for now, hypothetical) number $x$ with $x^2=2$ that $1 < x < \frac32$.
But we can find a larger number than $1$ whose square is less than $2$. For example, $1 < (5/4)^2 = 25/16 < 2$. And equivalently, we can find another, smaller rational less than $\frac32$ whose square is larger than $1$.
Indeed, we can find a whole growing sequence of rational numbers whose squares are all smaller than $2$, but which eventually will grow above any rational number whose square is less than $2$. That is, any rational number that is above all the numbers in that sequence must have a square that is at least $2$. Similarly, we can find a falling sequence of rational numbers with squares larger than $2$ that eventually falls below any rational with square larger than $2$. Now it is obvious that there is no rational number that is larger than any number in the first sequence, and at the same time smaller than each number in the second sequence, as the square of such a rational number would be neither greater nor less than $2$, and we already know that a rational number with square exactly $2$ does not exist. Thus those two sequences describe a gap in the rational numbers; a gap tjhat is above all the number of the first sequence, but below the numbers in the second sequence.
As a cross check, we can do the same with $4$ in the place of $2$. Here we get a growing sequence of rational numbers with square below $4$ and a second sequence of rational numbers with square above $4$. Of course the first sequence consists of rational numbers below $2$, and the second sequence consists of numbers above $2$. And there is exactly one rational number enclosed by those sequences, namely $2$. And indeed, $2^2=4$.
Now if you look at the two sequences, you see that as you progress, the terms of those sequences get arbitrary close to each other, but the first always stays below the second. And one can show that whenever this condition is met, then there can be at most one rational number in between, but there might be none.
Now where there is none in between, those sequences identify a gap in the rational numbers; and we can now just fill in the gaps by declaring that each of the sequence pairs has exactly one number enclosed. In the case where this is no rational number, it is an irrational number (which just means, not rational).
Now of course one has to prove that this gives a consistent definition for those numbers, but one can do that, and indeed, this is one of the standard definitions of real numbers (though usually the two sequences are described as end points of nested intervals, but that is technical details).
So in short, the irrational numbers are the gaps in between the rational numbers, but because the rational numbers are already dense, you cannot specify that gap with a single pair of rational numbers, but you need to use two sequences of numbers "closing up" to each other in order to identify such a gap.