I understand what you are saying . What you can do is first get a record shot of the animal or bird. After that you will feel a bit more comfortable that you didn't miss it. Then you can start thinking how you can make it better by altering the ISO and aperture or the composition.
It is always good that you don't get very close to the subject in the start, as it might go away. You have to slowly and steadily approach it. You can read this thread about that - http://www.indiawilds.com/forums/showthread.php?t=64
You keep trying it, slowly you will feel more comfortable and steady. The answer is to keep taking more and more photographs, that way you will improve. Keep posting.
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