I think there may actually be a happy medium...practiced response. I have seen people who are very even keeled in life, when put into a crisis, can move swiftly and decisively, making accurate decisions and giving accurate direction but moving fast.

the kids look to the parents - if the parents appear to think it's no big deal, it isn't. even if it is.

I'm sure that parents have been asking themselves this same question since babies were invented. I think you did fine, so don't be too harsh on yourself.

There are certain situations where you could certainly try always follow a more measured approach, but those situations are generally rather specific and specialized. E.g. first aid situations could benefit from certain decision trees that force you to slow down (e.g. ABC's, LAF-look, ask, feel, and so on) instead of just instinctually doing something that might hurt the child even more like instinctually picking them up and hugging them close.