I didn't take the time to read all the responses, but I just wanted to echo the fact that you have nothing to worry about. You certainly have the tools to become a great singer; all it takes is practice and determination.
I'll also echo what's been said about confidence. I started playing the guitar at 14 and didn't sing at all back then. When I went to study music at UNT, I had to take sight singing and ear training. I still remember the first day of sight singing class. It was 8:00 in the morning, and I had to "sing" some solfege stuff a capella in front of a class full of musicians! It was pretty terrifying. I still remember my teacher's comments: "Well ... the one good thing I can say is that, for the most part, you remembered where "Do" was.
But in retrospect, those classes were the best thing that could have ever happened to me. As my ear improved, and my singing slowly got better (I was in men's chorus as well), I noticed that my guitar playing improved as well. I could more easily connect hands to what I heard in my head.
Anyway, that was a long time ago, and I've since gotten comfortable with my voice. I'm certainly no Adele or Frank Sinatra or anything like that (and never will be), but I do what I do and I've learned to work with what I have as an instrument.
Confidence is certainly a huge key. The more you sing, the more confident you become, and the more confident you become, the better you'll sing. Determination is all about getting back up after you've failed to try again harder the next time. So make your mistakes loud and proud! "Letting it out" is really the only way you're going to improve in the way you want. If you make it a habit of singing with restraint and caution, it's only going to make it harder to eventually let it go.
I applaud you for posting a clip that contained mistakes. That's certainly a step in the right direction of being honest with yourself and beginning the process of breaking through that caution barrier!
Anyway, I think you have a nice voice, and it's only going to get better with more practice.
By the way, here's a link to one of my songs in case you'd like to know who is giving you advice. This way, you'll know whether or not my comments should mean anything to you!

This was done in one take as well. As with yours, there are a few mistakes, but I'm happy with it overall.
https://homerecording.com/bbs/gener...composition/new-song-opinions-welcome-342634/