All courses of action are risky, so prudence is not in avoiding danger (it’s impossible), but calculating risk and acting decisively. Make mistakes of ambition and not mistakes of sloth. Developt the strenght to do bold things, not the strength to suffer.
Making no mistakes is such a stupid goal I can’t find words to express it.
You want to make mistakes, you want to learn, to grow!
Have the confidence to do so and you will enjoy the ride.