Ironically, carrying tends to make us less bold, not more bold - and that is a good thing. I have to remind myself, sometimes, that even good people do very stupid things in vehicles... and I have to remind myself, sometimes, not to do any of those very stupid things.
This is especially true when carrying.
De-escalate before things get hot; leave before things get hot; leave quickly if things seem to get hot.
And try not to sweat the small stuff.