At this point it seems pretty clear that you don't like drawing, even if you want to. Although I'm not sure you're exactly afraid of drawing, I understand why you might be tense about it. Unfortunately, you just can't make yourself like something. You should know as well as I do that it just doesn't work like that. I'm going to reiterate the point that you have to treat drawing as a serious discipline, which means you're just going to have to learn to force yourself to practice whether you like it or not - Like studying for a final from a class you're about to fail.
But remember that you don't have to like something to become good at it. However, if you choose this mindset, then enjoyment will mean very little. You can't worry about having fun when you draw. Just draw. Emphasize technical aspects, and not artistic self-expression. It sounds almost heretic. In general though, it's not as uncommon as you think. No one has fun trying to get the same music notes down over and over, or studying to death, or practicing shooting a hoop for the hundredth time. For these people, and maybe for you, it's not about enjoyment. It's about willpower, perseverance, sacrifice, and just plain old forcing yourself to do it.
Anyway, for practice, you could try copying some simple drawings. Not tracing, of course, and definitely not just once. Redraw the same reference picture over and over.
While you're at it, analyze the picture. Think about how the artist drew this picture. What guidelines might he have used? What proportions are the most important to get right for this angle and pose? This part technically seems disproportional, so why does it still look okay? Think about some tutorials you've read in the past. Does this picture fit in with what the tutorials say? Stuff like that.
I would highly discourage silencing your inner critic. We've talked about accepting failure, and this is like that. To silence your inner critic is to ignore the problems in your drawing. If he sees something wrong, you probably should fix it. Like a strict editor, he's not there just to oppose you - He's there to work with you.
And when you do try to fix something, it probably won't resolve within the first try. You may have to redraw something countless times before it looks right. But if you do it enough, you'll start to get a handle on your weaknesses.
Also tip: Use references so you always know what something's supposed to look like. Trying to guess your way through a drawing, though it sounds pretty dumb, happens admittedly more often to each of us than we'd like to think.
So yeah. Basically, practice more, worry less. If things are discouraging, just force yourself through the hard times, though you don't know when those times will end. It's not always fun, and that's just how it is. But you've heard that enough times from me.
