Failure will happen, whether you want it or not
Seriously, I don't know of anyone who hasn't failed in some small ways or big. The moment you speak about failures, people can relate to it and empathise with you - doesn't matter that their failures come in different shapes and forms than yours - they once felt the same pain and loss. No one has ever lived through Life without some failures, and no one achieves success without tons of failure. NO ONE.
This is not to say you should wear your failures like badges of honour or go around broadcasting your failures but this --- whether you want it or not, fear it or not, failure happens. It happens because we're humans - we don't have the answers to everything; we are flawed; we are not omnipotent and hence not infallible. But hey, great work attempting. As Helen Keller would tell ya, "Life is either a daring adventure or nothing at all."
You can make it serve you
You can't avoid it but guess what, you can make it serve you. Failures won't make you anything less if you refuse to let it. In fact, there's no growth accelerator better than failures. If you learn from it, it can build you up to make you an even stronger person than you previously knew. It shows you what didn't work so you'd know what would...it's giving you another chance to create something even better...an nth version that is far superior.
Failure IS an EVENT, it is NOT YOU
If you think about it, failure is just one of many types of life experience albeit an unpleasant and unwelcome one. Dislike it or even curse it but there's really no need to fear it.
To fear failure is to fear an inherent part of life and an important life experience that could provide much depth and enrichment to your life. Failures make one humble, mature and sophisticated.