Yes.
But you have to know everything you're going to sing/play so well you could do it in your sleep, or in a coma, or in any frame of mind. Eventually (and it only takes a few gigs) you'll get comfortable with the idea, allow the constraints of nerves to diminish, start to relax and, actually have fun with the audience. Learn to play to the front row...or focus in on those who are digging what you are doing and feed off of them.