The very definition of inspiration requires a departure from the known into the unknown. It requires the courage to go to places where there are no footsteps to follow. Where there are no footsteps period. The absence of fear means an absence of risk.
Risk is the currency of life.
Without risk, there is no life. We are willing to risk failure in return for a sense that we are living. It's not that people didn't think that we could get to the moon that made it exciting. It's that they'd never considered it one way or the other. They never thought to think about it.