hunger pangs

Is it okay to feel hungry? I have always feared my stomach rumbling like if I didn't eat right away I would starve. So, I know it is important to fuel your body and it is good to eat many small meals a day to keep hunger away but is there anything wrong with feeling a little hungry? Now I am not alluding to starving oneself. What I mean is it might be 10:30 and I am eating lunch around 12 is it okay to wait for lunch? I don't feel faint or sick. Just ever so often my stomach rumbles and I think "oh no I better eat". Instead I am going to try to wait, planning my meal, and eating at 12. Why are we so afraid of being hungry?