I do not believe people understand to be honest. There are some really ignorant people I came across throughout my life so far that made me dislike my stutter. But I agree that the only way to not be miserable about it is to just accept it. For example, I used to never raise my hand in class when I was in high school. Now that I’m in my late 20s and taking some courses in college, I raise my hand regardless of my stutter. Acceptance helps.