Question about fear

I have a question about fear. I am a horsemanship Instructor. I know Brooke talks about fear and says feel the fear and do it anyway or look at the thought creating it. I know I have let fear hold me back with horses and most of my clients have at some time. How do you balance fear holding you back and fear keeping you safe when there is a chance of getting hurt? It’s not just fear of an emotion its fear of getting physically hurt. But so many riders use that as an excuse not to progress or try. Thanks