Encouragement and taking charge

I recently came across two videos,

Vineet Nayar talking about taking charge of one’s life …

Anne Marie talking about Encouragement – More Than A Feeling

So while i like both views.. my initial thought was

Encouragement by peers or friends is very important and i agree with your thoughts.
While these two themes are related, How does a company balance encouragement and taking charge of one’s life. The problem is does the manager who takes the decision also get the encouragement they require. So what comes first?