My fear began going away once I became open about my stuttering. With most people if you just say "hey man I stutter sometimes, it seems awkward for me but I'm totally used to it" or something of that, it gets rid of the awkwardness when you do stutter and you get that look of confusion from them, and eventually you stop fearing the stuttering. If you can show people that you're comfortable with it, they'll be comfortable around you. All my friends know I stutter and know that it's just part of how I talk, it's not stressful or detrimental to me, so therefore they can relax around me too. Hope that makes sense. Some day just try chatting with a stranger about it the next time you strike up conversation with them and get a chance to bring it up. I've found that people are genuinely interested in it, and they try to relate to you. It's much easier than trying to hide it and fear it constantly.