How to Avoid Criticism
There's really only one way...
To avoid criticism do nothing, say nothing, be nothing.
Elbert Hubbard (1856 - 1915)
And even then, you'll have your mother or your old man or some other spoilsport riding you, asking you why the hell you never get up off the couch.
So I guess we've established that criticism is a part of life. So you might as well be happy doing whatever you're being flailed about.
As for me, I choose to write books, risk rejection, pick myself up and write another and another. I have something to say, and this is how I choose to say it. To the very best of my ability.
So what about you? Are you sitting around waiting for some sort of guarantee of universal acceptance? Seriously. Or are you going to finish polishing that book, research those markets, and (you know who you are) finally get that query or submission in the mail?