To me, fearless is not the absence of fear. It's not being completely unafraid. To me, fearless is having fears. Fearless is having doubts. Lots of them. To me, fearless is living in spite of those things, every single day.
The purpose of a habit is to remove that action from self-negotiation. You no longer expend energy deciding whether to do it. You just do it. Good habits can range from telling the truth, to flossing