I mean yes, but if you don't get into a relationship, how will you know what you need to do to keep it? While it's not the partner's responsibility to help you, you can get a lot of insight on how to live properly from them. You may never actually be emotionally mature enough (none of this is an excuse for being a POS, obviously). Just from personal experience, being that concerned with my flaws and waiting until I'm mature "enough" has only made me lonely as shit.
But meh... What do I know?