You get over it by making your hourly rate numerically the same as your annual salary divided by 1000. If you can pull it off, quote only a day rate (that figure times 8) rather than hourly.

Companies readily pay more per hour for contractors.

If your market full-time salary is $200k/yr, charge $200/hr. If you’re offering your services a la carte at $100/hr, you’re going to have a terrible time.