In high school, in sport, I had a coach who told me I was much better than I thought I was, and would make me do more in a positive sense. He was the first person who taught me not to be afraid of failure.
Humans are the only animals that try to dwell in the future. You don't have to purely live in the present situation without a plan, but the future plans you make can only be based on the aspects of the future that manifest within the present situation.