The first is correct. The second is just broken. It doesn't even have your alternate "I want to make someone feel sad..." meaning.
** Addition **
I was trying to figure out why the second is broken. After all, something like this is OK (if a bit stilted):
I always cry to make someone feel sad when I talk
or
I always whine to make someone feel sad when I talk
or
I always love to make someone feel sad when I talk
or even
I always fart to make someone feel disgusted when I talk
So I'm not sure what it is about the verb "to fear" that makes it unsuitable in this context (but idiomatically at least it is unsuitable). I'd suggest it's because "to fear" is a transitive verb, but so is "to love". Shrug.