Yes, this word fearless is one that is often used in hyperbolic praise of heroic deeds, even if not exactly accurate. The overcoming of fear, not so much a lack of fear, is the idea in mind. A certain healthy dose of fear is a good thing to have. I fear touching a hot stove, which I did as a small child and the result was blistering, so I learned the hard way not to do that. I fear this notion of standing in front of an onslaught of incoming traffic, knowing that the certain result would be myself as roadkill. There is really nothing wrong with having a healthy dose of fear, as I would say.