Peter doesn’t just step out of the boat. He waits for his Master to say, “Come.” Then he really has no choice, does he? He needs to obey. All is well as long as he keeps his eyes on Jesus. When he focuses on the problem (the stormy sea), he sinks. But even then, when in despair, he can and does place his focus on Jesus, and begs for help, which Jesus gives. We assume that then they walk back to the boat together. Keep your eyes on Jesus!