fear is an emotion. I like emotional aikido classes. Its part of the thrill you get from the close proximity to other living creatures.
Someone said once, there are only two emotions fear and love. Since aikido means harmony we must practice harmonizing with the way people really are. some people are scary! Nobody at my dojo though...
Of course, I prefer to practice feeling and making others feel this emotion in a very controlled and consensual way. But I just role alot farther if I imagine that nage might want to step on my head.
feel free to disagree
PS: I don't like the fear that comes with a contest of strength though. sometimes you might practice with someone who won't let you throw them or doesn't like the way you do ukemi that day. I guess that means yes and no.