Also timing is very important. For instance, never ever call a restaurant between 11-2 pm. That's their rush hour and they will hardly have time to listen to what you have to say.
Cold calling is like approaching to girls. If you have an approaching anxiety, it means that you have a fear of rejection and sorry to say that but as long as you have this fear, you'll always get rejected. Every person has some insecurities but very rare people would like to do business or be friends with an insecure person.
Think about the worst case scenario. What is the worst thing that might happen? They'll maybe curse at you or hang up on you. That's it. Nobody's gonna hunt you down

Believe me, honking at the wrong person at the wrong time on traffic is far more dangerous than making some cold calls.
Think it this way. You are the person who is going to save their business. You are the hero. They will make bags of money off your skills which will help them open another store or renew their old cars etc. etc. Be motivated and believe that you're their savior, the best call they picked up in their entire lives.
On the other hand, cold calling is not for everyone. But you can't know if you don't try. If you still can't get over your fear after 10-15 calls, then maybe it's really not your thing. Because making the call is not the important part, convincing them is. That's how you get paid. Try it and if you can't succeed, then just sacrifice from your profit and hire a professional telemarketer.