I am not a Christian but, seeing the scripture which you have re-written, it seems clear to me that, according to what you have written here, while both Jesus and the Dr. describe the mechanism of the problem only Jesus names the cause and offers a real solution while the doctor does not.
The Dr. only says that worry is self hate and implies that we should not "Do that" simply because it is unpleasant. He implies "Instead of worrying, which feels bad, just don't worry because that feels good".
He does not address the cause and effect relationship between suffering and pursuing vain desires nor between joyful plenty and pursuing virtuous desires.
I sarcastically say "Gee, thanks doc. What a revelation!" "I will simply stop worrying now because self imposed punishment feels bad". Then I make the "Pfff" sound with my mouth and go on worrying despite the fact that it doesn't feel good.
Jesus, on the other hand, gives us a the mechanism for the solution. He gives an "Instead" when he says this: "... Instead, desire first and foremost God’s kingdom and God’s righteousness, and all these things will be given to you as well."
It matters what we want most.
Fear, worry, anxiety, and a sense of guilt are a self imposed but fair and natural living punishment which naturally arise from dismissing our own inner sense of right and wrong and instead desiring vain things like physical pleasure. Likewise, and in opposition, love, hopefulness, and a sense of wellbeing, which are a self imposed living reward which naturally arise from desiring and actively pursuing virtuous things like doing thing to actually help oneself and others.
God doesn't cause these reactions. We do. So how can we control them? It is really a simple cause and reaction scenario. Suffering does not arise from nowhere, nor simply from our mere capacity to know right from wrong.
If we desire the wrong things we suffer. Take it from me a dude who desires a cigarette and a bottle of whiskey right now! I KNOW! Fear and anxiety arise ONLY AND ONLY from the desire for things of no real spiritual value such as money, fame, sex, booze, etc.
It's a no-brainer, when you really stop and think about it honestly. Jesus gets it, but the Dr. doesn't, quite get it.