Re: Don't "drive" your boat like it's a car!
This really is a very interesting topic...
I'm still new at sailing, and I'm still learning to take out and dock my 16 Topper. I share a slip with a powerboat, and I'm between the dock and the powerboat, with another boat on the opposite slip. My heartrate does increase with each leaving and landing, but so far I haven't hit either.
I do the untie-everything-and-jump-onboard-and-get-to-the-trolling-motor method when casting off and then slowly motor in and walk up to the bow and jump onto the dock to tie her in (I'm always solo). I can call in the marina to get some help, but I really don't want any; I'm trying to learn how to sail solo.
Anyway, that's all I've got. Sorry no insights or anything, just another guy making it up as he goes along...
By the way, I really like that sentiment about "...small boats make you a sailor."