I think fears are the consequences of our life experiences. I agree that many or perhaps most are based in childhood but I don’t believe they stop. I have had experiences as an adult that produced fears in me. Not all fear is a bad thing, fear of walking in front of a moving car saves your life. Fear of living with an abusive partner is also a good fear. Fears which cause you to be incapable of doing the things in life that you want to do are usually bad. Irrational fears are a waste of time, but none the less scary.
Counseling is good to help you separate and catagorize your fears and deal with the ones that are hampering you.