"Yuu-勇" bravery

My favorite word - 義を見てせざるは勇なきなり
Translation is like
You are not brave if you don't do right thing, facing the necessity of right thing.
Sometimes people can not take right actions due to her/his circumstances.
However, they themselves know they are cowards.

So, Samurai was trained to overcome this cowardice because cowardice ends up losing the phlegm in an extreme situation.

It is the Samurai to control their fear in any circumstances and judge their actions in a calm manner.Genuine bravery can do this calm manner in really really extreme situations.

Interesting enough Samurai was trained not to be confused in any situations.

Totally different world from peaceful everyday.