All human religions and their traditions have their existence in fear and ability to fulfill desires. Traces of fear remains until there is knowledge.
Swami Vivekananda's quote about what our teachings emphasize is fearlessness.
In fact the quote is " If you read the Vedas, you will find this word always repeated — fearlessness — fear nothing. Fear is a sign of weakness. A man must go about his duties without taking notice of the sneers and the ridicule of the world."
It is better to do all Nithyakarma and other such rituals with understanding of the significance (why, when what where, how etc). Shraddham is one such ritual. My own opinion is that it is better to not do anything out of fear.