In order to avoid criticism in life, it is simple. Be nothing, do nothing and say nothing. Nobody will notice you, and they will certainly not waste a breath talking about what you are doing.
On the other hand, when you go outside your comfort zone – you will trip, fall and get laughed at by people who are still inside their comfort zones.
Everytime you trip, fall and get back up, you wind up one step farther ahead of the person who is unwilling to grow through failure (which is the only way to grow beyond where you are by any significant measure).