Jesus always encourages us to face our fears. Then, he says "fear not."
He's telling us not to be consumed by fear, not to hold the energy of fear within us, and not to accommodate our lives to the things we fear.
When we go with Jesus, there is always some stress involved because we are constantly uncovering and defeating our fears.
We don't do this alone. He goes with us because we chose to go with him. It's a journey of love: a loving God teaches his beloved creature to live beyond fear.
Beyond fear, there is only love.