What you are describing is the core of cognitive-behavioral therapy for most anxiety disorders. It's the principle behind the folk wisdom of getting back on the horse that threw you.
Anxiety disorders (panic, phobia, OCD, social anxiety, & others) aren't about being anxious, but about the false belief that anxiety must be avoided. The avoidance is the disorder.
But anxiety is an inescapable part of everybody's life. We have to learn to tolerate it, or else it will take over. You have learned to practice living with it, and as long as you keep doing that, it will never defeat you.