Yeah man I do the same shit but usually I don't really sweat it. I'm 21 now so its not like I'm ever really going to be competing, so I'm just out there having fun anyway.
The other day though, I was cruising around and not doing too much, skipping some of the bigger rail features and not throwing down on jumps at all. So there was this double barrel rail that wasn't even hard, but I just wasn't hitting it because I wasn't really feeling the placement/lip whatever, even though I knew I could do it. So eventually I just hit it anyway, and stomped it. It got me feeling so pumped that I started hitting all the other shit I was skipping and trying some new features I had never hit before.
So I guess my advice is just to like take yourself barely out of your comfort zone, maybe try throwing a shifty or a sketchy grab in a spin you already know you can land or something, and then when you stomp it, you will be pumped to get farther out of your comfort zone.
The "people are watching me" thing doesn't really work for me because when I feel like that I usually just do something I know I can stomp and make look ok instead of something I have like a 50/50 chance of falling on and looking like a fool. lol