You sound like I sounded before I got my road bike. I had a blast on my hybrid, but wanted to do more. I was nervous about the difference in riding position, but a road bike does not need to be set up in a very aggressive riding position - I now find myself more comfortable on my road bike than on a bike where I sit more upright. It takes some getting used to, but I say give it a try!

(How about a touring bike for running your errands? Those bikes are amazingly practical and built to get things done!)