I think you're right, and I think what the author is actually trying to get at is what's known as a rival in anime (which is a bit more nuanced than the typical sense of rival) and roughly translates to friendly rivalry. Unlike the case for mentors, rivals need not have loads more experience. They can also be mutually beneficial in a largely positive sense and without antagonism, unlike the case for nemeses.
But you can't be friendly if foundation is strewn with fear and insecurity. It's also important to be able to recognize if rivalry is causing too much stress and revisit your goals and priorities. Sometimes it's fine to explore and go at your own pace.
But you can't be friendly if foundation is strewn with fear and insecurity. It's also important to be able to recognize if rivalry is causing too much stress and revisit your goals and priorities. Sometimes it's fine to explore and go at your own pace.