I think a life without fear is no life at all. Wasnt it once said that you should do one thing each day that scares you?
You can never live a life without fear, its how you face it and cope with it thatll change your life. If anyone says that they are living a fear-free life then theyre lying. Everybodys afraid, only some can just put a face on and deal with it, whilst others cant.
I think the trick here is to be more confident and get a better view on things, because youre never going to be totally unafraid.