I am afraid of any college level math, how can I overcome this and how can I get good grades in Calc I,II,III?

I am afraid of college level math, when I was in high school I took a college level algebra course at my local community college and got a C in the course. I have an extremely logical mind and can do some Diff-E, Matrix multiplication and Linear Algebra which are all higher levels of math but I SUCK at algebra, geometry, trigonometry, and calculus. I am so afraid of taking any math in college because a lot of my friends failed out of college taking Calculus I and II and I have seen grown men crying from the stress of Calculus III homework. I wanted to major in one of the sciences especially Physics, but physics is math intensive. Right now going into sophomore year of college as a Psychology major and I would have to take math 101 in order to take math 102 in order to take math 106 in order to take math 107 in order to take my first Physics course. How can I beat Math? How can I overcome my fear of math? How can I stop panicking on math test? I really feel as if I am limiting my self with this irrational fear