"Just as courage imperils life, fear protects it."-- Leonardo da Vinci

Just as our sense of touch makes doing something that might harm the body painful, so fear protects us from doing something foolhardy.
Being afraid with good cause is nothing to be ashamed of.  Looked at clearly, and without judgement, one can see that there is a proper place for fear in our lives. The problem comes when our fears keep us from living fully and joyfully.  It's at that point when courage is required.
Remember, though, that acts of courage are relative.  An introvert might need enormous reserves of courage to do what an extrovert does eagerly: enter a room full of people.
Don't judge or compare yourself to others. If you do, you might decide to override a justified fear response for the sake of your ego.  If you want to be a hero, remember that it also takes considerable courage to trust your feelings, honor yourself, and be who you really are.