Perfect timing is a lottery, and for most, a fools dream. Granted, there can sometimes be better timing, however, we often use the menial distractions of our daily lives as excuses to risk something that would challenge our comfort. Even options that could change our lives for the better.
To start a relationship
or quit your job
or have a baby
or start a company
"Someday. Eventually. Sooner or later." All phrases that assume that at some point, the stars will come reaching for you, instead of you reaching for the stars.
We're all afraid, most things we are afraid of though are correctable, or heavily unlikely. If you want it, go for it, and correct your course along the way.