One way to get past the fear of falling with clipless pedals is to ride them on a grass and practice stopping and falling over without un-cleating. Focus on meeting the grass with everything you can, side of arms, rotating you leg out but: don't stiffen up, don't let go of the handlebars. Your thought process should be along the lines of "I just made a fool of myself and it's funny." Laugh.

Losing the fear of falling over won't keep those falls from happening. But it will mean that those falls will be no big deal. I've been riding with toeclips, straps pulled tight and cleats for 40 years. (What everyone used who raced.) If I don't bend over and release that buckle with my hand, I am going to fall over. Still happens. But it doesn't matter. Since I am not moving, there is no road rash and usually no bruise at all.

This is the one time to celebrate being a fool.

Ben
Ben