Well I always say it's a bad thing to ride scared. Not only does it ruin the ride but it is a dangerous distraction. For me I prepare for the worst as best I can and then roll with it. Just like gear, you should have insurance and wills in place. If you don't want to be resuscitated, no transplants, no transfusions, etc. you'll need to legally declare that. If you love your family the worse thing you can do to them is make them make these decisions. Also you should be an organ donor, motorcyclist use a lot of donated human parts.
Fear is a sense, just like smell, sight, etc. Good riders use fear constructively to tell them something is not right. For example, animals like deer are most active at dusk and dawn. If I'm riding back roads at this time I will change my route to larger, more traveled roads. I also scan the road surface when I ride, so I don't ride at night unless it's necessary.
Race Teams spend the first 2 days of the race weekend getting the bike setup so the rider feels comfortable doing all the things they need to do to go fast at a given track. Pro riders are not fearless. They will go as fast as they feel they have control. When they start to lose control, they slow down.
You've heard it before "ride your ride". If you are scared trying to keep up with your riding group, you are dangerous. Slow down and live to ride another day.