Engstudent87, you're not the only one who feels this way. This process is entirely too daunting and entirely too nervewracking - I'm going through it for the second time, for a second terminal degree, and the anxiety hasn't lessened...it's probably worse.
Just take things slowly - negative self talk is never productive.
As silly as it seems, if you don't get accepted this time, take a step back to reflect on your chosen path. If electrical engineering is truly your passion, then you'll find a way to squeeze (or ease) into a graduate program. I've known of a few people, especially in engineering, who have picked a school, then just paid for graduate courses. If that's not an option, you could always take more undergraduate courses to bolster your GPA.
As for contacting professors, just get gutsy and do it. The beauty of email is that you just have to hit the SEND button, and boom, it's done. There's no harm in inquiring about a graduate level program, and a genuine expressed connection over shared interests is always a bonus. Remember, professors are people too - they've been through this process and know how difficult it is. Just explain that you'd like to know more about how their labs function etc...and perhaps a compliment on a piece of work you've read might be nice as well.