One of the nicest things about poems (another one) is that it's ok to write a bad poem. You might feel embarrassed, but there's no requirement. You have full permission (from me, if you need me on your side here) not to feel embarrassed by a poem you wrote that didn't turn out wonderfully, or even turned out atrociously. It's fine. Fear of writing an atrocious poem stops you writing a beautiful poem.

You can of course feel that fear, and feel that embarrassment, and respond with hesitation. But you can just as much, and more, go past the hesitation and write more, and better.