I remember in about middle school through high school some part of health class was always devoted to ways one could improve one's self-esteem. I remember that I would resolve to do whatever was suggested (usually some variant of positive self-talk) which invariably failed for me resulting in me feeling like even more of a failure for being unable to improve my self-esteem.
Realizing that fear of failure lowers self esteem and increases the chance to fail is a very strong step.
Fear is just a virus - unwanted process which consuming your oxygen and utilizing your nervous system. Of course, it is here for a purpose, so the trick is to accept it, analyze the situation (why it arisen?) and just stay calm and awake.
It is not so simple. There could be a genetic predisposition for an anxiety, and doubts and fears (conscious or not) will be the consequence - an attempt to avoid unpleasant state, while there is no reason for it.
Doubts lowers self-esteem, low self-esteem produce doubts and fears, and so on.