Mistakes may cause sadness, regret, loss of confidence, etc.
Fear of making mistakes can be even worse to the degree that it may paralyze you from doing anything.
But, mistakes are just part of life. You are a human being and you live in this Dunya. Achieving perfection (mistake-less state) is impossible and shouldn’t be your goal. However, your goal should be growing with mistakes and in spites of mistakes.
“If you [people] are sinless, Allah will replace you with those who do sin, but will seek forgiveness.” – Sahih Muslim.
والذي نفسي بيده ! لو لم تذنبوا لذهب الله بكم ، ولجاء بقوم يذنبون ، فيستغفرون الله ، فيغفر لهم
So, try to minimize your mistakes by:
I always think it in another way, if mistakes make you a better person in every aspect, why not? Is it permissible to think it that way?
Welcoming mistakes is a good way to put it, as you said. (but not sins, because mistakes and sins are not identical.)
So, I know a brother he learned how to swim my telling himself, today I’m going to try to drawn (as you know when you try to dive, the water will naturally let you float) so he trained his body not to panic in water. So, the way you suggested is the same, say you are worried people to laugh at you giving a public speech. So, you tell yourself, I want to hear how loud can they laugh and any how many mistakes I can do…. then you won’t worry about making mistakes.
The idea is to put your focus on the real goal (and everything to get the goal achieved), while setting yourself free from worrying about possible mistakes.
Alhamdulillah..new paradigm…making mistakes..making progress..