I also don't think you are psychotic.
I think the first step would be to evaluate what it is you expect to accomplish with therapy. You said that it is the road to freedom. Freedom from what? You can evaluate this yourself and answer your own question.
You don't need to go in and tell them all the little details, it wont effect your progress if you leave some stuff out. Therapy isn't just for psychos. Some people find it beneficial to just have someone to talk to and help them sort through their thoughts. A good therapist isn't going to judge for being or NOT being crazy.
So ditch the fear that you may not have enough to talk about or people will laugh you out of the office. Just get some counseling to help you sort through all the uncertainties that are weighing you down right now.
That sounds perfectly reasonable to me.