I haven't played warrior optimally, but from personal experience (coming from paladin) I feel I must trust my healers a lot more. I guess warrior's main responsibility is just to "soak" the tank buster by having an proper cooldown up to mitigate the buster by that much, but by no means is it going to save you everytime. At least, that is how I feel it.

As for the controls, I guess I can suggest enabling the extra hotbars you get from using Left & Right trigger simultaneously. When I discovered this, I was able to sort my abilities in such a way that I didn't need to toggle and then accidentally use an ability I didn't mean to, due to the fact I was still on the wrong bar and didn't notice.