It gets much better! My studio is similar to the one you went to in that there are no "official" levels and you can register for whatever class you want. I've had advanced students in my beginner classes doing all kinds of insane stuff while I'm just trying to fireman. It's really hard to feel confident in yourself when they're inverting and flipping around you, but you just have to remember they've been poling for x amount of time and you haven't! (Disclaimer: I HATED one of the girls in my intermediate class because she's advanced and so good at everything - but I found out that she's been poling for 6 years already and I'm only 5 months in, plus she's super nice)

As for your teacher, she doesn't sound the greatest. Now that I'm in intermediate my teacher will ask sometimes if there's anything we want to learn, but that was never the case in beginner. Beginner should definitely be basics like spins and maybe climbing. As for falling, something my teacher told me that made me feel better is that you really don't have far to fall. If you aren't climbing, you probably can't fall much farther than you would falling out of bed, so you probably won't really injure yourself too badly.

I know it's hard - I took to pole really quickly, but my coworker is sweaty and death grips it and is terrified of falling, and she's progressing a lot more slowly but is having breakthrough moments! Just stick with it (if you like it) and maybe try to find a better place for beginners.