On Expectations

One often expects their actions to cause things to happen in a certain way and produce a certain desired/(usually) favorable outcome. If that doesn't happen then it typically leads to frustration and/or anger. Consequently the aforesaid actions are in turn termed a 'failure', (to varying degrees maybe). Does that imply that if there was low/no expectation to begin with, the possibility of such a failure is very slim since any outcome that the action produces is surely better than what was expected? (ignore the circular logic that the idea of having no expectation is itself a form of expectation :D)
On the other hand, does having a high expectation regarding the outcome of an action somehow influence (maybe subconsciously) the "quality" of the action itself which in turn leads to the desired outcome?
And more importantly, which one of the above two approaches results in a better state of mind (greater happiness/satisfaction and all such things) at the end of it all?

Update:
Randomly kicked to see this article in today's NYT....similar sentiments in parts. Lige nu I say :)

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