"DO IT NOW!" is your new mantra.
Generally, I would assume that a good method of building confidence and/or esteem in this regard would be to set some goals that are relatively easy to achieve - one at a time - and then doing it. Because of their ease they will not seem as intimidating and as you get into the habit of "doing it now" you will begin to act like this by default, regardless of difficulty or consequences.
Failure is never an option. There are those who will say that, "doing your best" is for losers, but the fact of the matter is that if you honestly believe that you did your best, then you wont blame yourself if you fail. If one the other hand you didn't do your best, then you
will blame yourself if you fail.
Hope this helps.
Cheers.