Not necessarily. Fear can be triggered by any number of things at anytime. Emotions, physiology, physical or mental stimulus can all trigger a "fright" response. If I zap you a few times with a taser, I can trigger a Pavlovian response by associating the taser with pain. Very soon you will reach the stage where the fear response can be triggered by simply seeing a taser.

Just because you have some experience (broadly speaking), doesn't necessarily mean you can deal with the fear response or control it. Why do the wise old teachers admonish you to control your breathing? Breathing controls the physiological responses that can affect your mental, emotional, and physical state. More importantly, it regulates the amount of adrenaline that is being dumped into your system.

Try this little experiment:
Imagine yourself in a threatening situation, say, someone with a knife at your throat. Or even better, get a friend to do this with you. Get your friend to act threateningly, like he's really going to slit your throat. The more realistic your friend is, the more intense the exercise. Now, intensify and quicken your breathing. Breathe hard and quick. Think to yourself, you are going to die. See yourself lying on the floor, bleeding to death. What does death feel like? Now "feel" the following emotions: scared, can't breathe, lifeless, no strength, can't fight, resignation. Notice what happens to your body - Does it start trembling? Does your breath start to shorten and soon you feel you can't breathe? Does it feel like parts of your body won't cooperate?

That's fear. You've just tricked your mind, body and emotional state into believing that you're going to die.

Now if you understand what triggers your fear, you can go about eliminating the emotional, mental, physical and physiological "ghosts" that trigger the state of fear.