Could my dad have caused me to be afraid of making mistakes?

Well I'm 17 and I've always been very shy and sensitive. My dad always made me feel dumb for making mistakes or I was doing something wrong. My dad wasn't really that bad. He was basically the less intnense type, but it was still annoying. Like me and my family would get ice-cream for McDonalds when I was younger. Sometimes mine would melt and go down the sides. He would just take it from me and lick the sides, as if I couldn't do it myself. Or once I was sweeping with the broom and he took it from me and showerd me the "correct" way to hold it. I got kind of nervous when I swept after that because I thought I wwas doing it wrong. Or the biggest one I can remeber was two years ago I left the oven on accidentally, he called me a stupid f--- and said I could've of burned down the house. This was in the middle of the night and now I feel like I could've killed everyone. Nowadays I'm pretty scared to make mistakes. Could it of been from him?