Mifune on Randori

I recently pulled out one of my favorite judo books, Canon of Judo, by my hero, Kyuzo Mifune. I've read through it before and used it as a reference for techniques, but it's always nice to go back and read it again as a refresher. In the beginning of the book, he deals with several underlying philosophies of judo practice. Some of them are harder to keep up with than others, but I came away with two things I really need to work on in my randori(free sparring); starting randori with a clean slate, and being decisive when committing to a technique.

1.)Starting with a clean slate.
By this I mean going into randori with no plans of which techniques I'm going to use. If I decide I'm going to use one type of hip throw, one foot sweep, and one sacrifice throw, I limit myself during a match by constantly trying to maneuver my opponent into a position that I can apply a specific technique. A better plan is to move with my opponent and use his current position to apply a technique appropriate to the immediate situation. In order to do that, I need to have several techniques that are second nature to me. A few of the throws I know are close or are getting close to second nature. I need to continue working on those throws, but I also need to start doing uchi-komis for more throws to accomodate the different situations I find myself in randori.

2.)Being decisive
I often find myself during randori watching an opportunity go by and mentally noting that I missed a great throw. I don't know if it's because I'm timid by nature or I feel pressure as a black belt not to be countered by a lower ranking judoka. The latter is ridiculous. It's simple pride and it must be put away or my randori won't improve. Randori is supposed to be a time of learning, and if I don't commit to every opportunity to apply a technique, I learn nothing. I need to mentally prep myself to try for every opportunity that is presented (yet not get sloppy). If I get countered or thrown, so what? I'll learn from the fall and try again.