Los sentimientos

Querer means to want. It also means to love. Te quiero is the ordinary, everyday I love you, said to partners, parents, children and close friends.

Amar is the stronger word, and it is rarer than English love by a long way. Te amo belongs to romantic love and to song lyrics. Said to a friend it is either a joke or a declaration, and both are awkward.

The safe rule: if English would say I love you and mean it warmly rather than dramatically, Spanish says te quiero.

The verbs that put you second

Encantar behaves like gustar: me encanta is literally it enchants me. So does preocupar: me preocupa is it worries me, with the thing doing the worrying as the subject.

Then Spanish offers the reflexive versions, and they mean something subtly different. Me preocupa el examen is the exam worries me. Me preocupo por el examen is I worry about the exam. The first happens to you; the second is something you do. English has to say the whole thing out loud to make that distinction.

esperar is three verbs at once

Esperar is to wait, to hope and to expect. Te espero is I am waiting for you. Espero que sí is I hope so. Espero que venga is I hope he comes, and takes the subjunctive, which is the clue that hope rather than expectation is meant.

There is no reliable way to tell them apart except context, and Spanish speakers do not experience it as ambiguous at all.

miedo is a thing you have

Tener miedo, to have fear. Not to be afraid. This is the same pattern as tener hambre and tener frío, and it is one of the most reliable structures in the language: Spanish puts a surprising number of internal states inside tener.

Temer is the verb, and it is more formal and much less common. Use tener miedo and you will sound like a person rather than a subtitle.