This is pretty sad, because trust is essential to all close human relationships. How could you ever have a friend or spouse or lover if you couldn't trust that person. They are learning to assert their own desires. Children learn not only that they have separate desires, but also to plan out means of reaching those. Erikson said that Americans don't make as much of a distinction between shame and guilt as he thought they should.
Shame is the sense of having been publicly exposed doing something bad.
Guilt, on the other hand, occurs whether we are caught or not. So, children begin to internalize certain values of their parents, teachers, etc. This is actually very important, because much of what enables us to get along with one another is that we behave in a manner that is socially acceptable, not because we are afraid of being caught and punished as much as because we see ourselves as a certain kind of person, honest, fair, etc. Because you just don't think it is right and would feel guility about it. Don't get me wrong, you need to have initiative, too, you can't just sit around and do nothing because you are afraid you will do something wrong.