You want your people to think outside the box. In order to be a high-performance team, they have to be willing to take risks. When they do take risks and it works, you have to praise in public. When they take risks and it fails, you have to criticize in private. If criticism is required, you then need to sit down and review what went right and what went wrong and how the same situation can be approached differently in the future to achieve a different outcome.
Success is never absolute and neither is failure.
We have degrees of success and failure in almost everything we do. Developing discipline, commitment, loyalty, and risk-takers will allow you to build a team that will exceed your every expectation.