On the one hand, I'm pretty comfortable with, and not afraid of, making mistakes. On the other hand, some mistakes can have serious consequences.
I'm not sure we all learn from our mistakes, and I'm not any of us always learns learns all our mistakes. Even when we do learn from them, though, what we learn isn't always the best thing to have learned.
Personally, I have to say that I've done things/made choices that are mistake-free, and I've done things/made choices that involved having made a mistake. I like mistake-free better.