Believe it or not you get over this. It’s kind of like the fear of going up on stage to give a presentation. Some people get an addictive rush, these are usually serial entrepreneurs who just love to be in charge because they have no problems with risk/stress tolerance (mostly). You get better at handling the stress as you get more comfortable with where your business lies and what value you offer, et cetera. Hiring/firing is hard for people but you have no choice and certainly you’re not beholden to give people jobs. People are there to work, do their best at the moment, your job is to ensure them they’re looked after adequately and your door is always open to them if they have to talk to you.
Everyone should attempt to start a small business or a side consulting gig. Failing that, you should strive to make it to VP-suite of your company where in most cases you’ll be tasked with running an arm of the business - the risks are there but it’s more of a simulated environment as well. The CEO will shit test you in almost everything you do and say and this is the grilling you will need, because they expect you to be capable of running things in their stead.