This is a good thing, as it allows you to learn where the limits are without dying, and discover that there is more that you can do without having to risk significant pain to find out. Breaking the mental barrier to discover the true limits is important.

A personal anecdote, my bouldering skills (no rope technical rock climbing) improved tremendously once I started top-roping (climbing much higher walls with a safety rope), as the rope gave me the confidence to try moves I never would have without the safety rope.