I have always tried to let my kids take risks and be adventurous.
I try to supress my "Be CAREFUL!!!" instinct when it starts to flare up, so they will try to do hard things.
Once, another mother at the park frantically called out to me in an alarmed voice, "Ma'am! Your baby is CLIMBING THOSE BARS!"
"Oh, I know." I replied calmly. "She does it all the time."