The short answer is yes ☺️ it gets easier. You have to assess people, give meds, take their vitals etc. The guilt you feel should be channeled into considering how you can do it better.
Little things like keeping the lighting dim, improving their comfort by getting something they need while you are in there are helpful. If you know they are confused/ fall risk time your assessment with toileting or incontinence care. Always cluster care when possible.
If you are anxious re: new equipment, procedures etc. make sure you take the time to get familiarized whether with a co-worker, on your own, Youtube, whatever you need to do.
Avoid accessive apologizing as it undermines you. If you promise something and fail to deliver a brief but sincere apology is appropriate. Overall though it's more effective to focus on their needs you can meet. IE "I hear you that you are having pain, and I will continue to relay your wishes to the MD, but they require that I start with Tylenol and a hot pack first. " They can accept that or become belligerent. As soon as they get rude just let them know that you feel that the communication is no longer benefiting anyone, and you'd be happy to come back when they're calmer.
Can't go wrong with treating people like you would like to be treated. But that's a 2 way street, and not everyone is a good driver.