In the book I am Legend, the main character faces off the zombies. He is intimidated by them. But by the end of the book, it turns out that the zombies are intimidated by him. He is legend. (the movie did not do this justice)

On a similar level, women are human, and they are as nervous as you are. They are there trying to impress you as much as you are trying to impress them. When viewed like this, it makes women much less intimidating and allows for appropriate behavior. Instead of trying to impress the woman and pine for her approval, the date is seen as a mutual interaction where both players have to work for the other's approval.

It is easy to forget also that if they are on a date with you it means they like you. They want to spend time with you.