Not a chance.
Fear can be a good thing in certain circumstances. It can drive you to accomplish or avoid things that wouldn't ordinarily get accomplished/avoided.
Example: I quit smoking cigarettes out of the fear of damaging my lungs more than I already am, and the risk of cancer. If I wasn't afraid of the long term consequences of smoking cigarettes, there is a reasonable chance I would still smoke them.
Another example: I wear a condom EVERY time out of fear of getting an STD and/or unwanted pregnancy. If I was not afraid of having a child at the age of 20 or the idea of HIV, there is a chance I wouldn't wear a condom.
Another example: I don't bring illegal substances to my dorm (I leave them at a friend's place). Even though they don't go through our rooms or bring dogs or anything. If I wasn't afraid of getting busted and kicked out of the dorms/school, luck might have it that one day dogs do come and raid my room.
Like end said, fear is a defense mechanism that helps keep our behavior in line with our intentions and goals.
Fear is also a profoundly compelling emotion that you can use to learn a lot about yourself and your truest intentions.
Conversely, irrational fears, as we have all undoubtedly experienced, can also inhibit personal growth and fulfilling experiences. Like when you never had the balls to ask out that one crush of yours. Who knows what experiences and life lessons you missed out on because of something as trivial as getting rejected?
You've just got to confront the fear, get down to its roots, and feed it through your system of logic. This can be hard to do because thought has a tendency to be so heavily swayed by the emotions you are feeling at the time (sometimes seemingly inseperable from the thoughts themselves) and consequently inhibit your ability to look at it rationally, but with practice, is something that can be improved upon, in my experiences.