To the OP, just do it. I've been homebrewing for 7-8 years and just entered my first competition 2 years ago. Didn't win anything but received great feedback telling me why. I struck up a conversation with one of the judges and (with his blessing) have been emailing him ever since. Some of the best feedback and information on how to improve has come from him and I would not have that if I hadn't made that plunge. My brewing processes, and thus my beers, are infinitely better because of it. No comp last year but I'm in one later this month and can't wait.