Feeling Embarrassed for Others

The closer you get to someone, the more you are tempted to control the way they do things, sometimes out of protecting them and often times out of selfish reasons of how their actions will make you feel. I believe that in order to let everyone around us thrive, we should deal with the feeling of embarrassment that occurs when we see them evolve, show their personality and just generally grow as a person. How can we effectively achieve this?