This quote was written in 1965 by a psychoanalyst, so I don't even know if they had the same diagnostic criteria for Obsessive-Compulsive Disorder that they do today. He's talking about "styles" of behavior. Based on a little searching, it seems to me that a preoccupation with rules is characteristic of what is called Obsessive-Compulsive Personality Disorder. As is so often the case, there's a broad spectrum from quirky behavior to personality disorder.
What makes it a disorder is if it is interferring with your enjoyment of life. It is irrational to choose according to arbitrary rules when doing so makes you miss out on outcomes that are preferable but require you going outside of your rules.
A little searching on the Internet says the treatment for the disorder is talk therapy. It's possible that could work.
I would say first of all you have to recognize when living according to rules is making your life better and when living based on rules is boxing you in. Having rules can make decisions easier, but it can make you miss out on a lot of life. Seek feedback from friends and family members about areas in which you might be too rigid. Make sure you tell them you really want honest feedback. Then take baby steps to break out of routines. Doing so will also build your courage.
Accept that it's OK to make mistakes. Failure is a great source of learning. If you have an attitude that says, "I am going to make mistakes," then you might not feel so much anxiety about making a less-than-optimal choice. (I recommend the book The Pursuit of Perfect by Tal Ben-Shahar. I learned a lot about avoiding perfectionism from that book.)
You might find that something like an improv comedy class makes you more spontaneous and able to see how rules for behavior aren't as fixed as you might think they are. People get by and thrive by doing things totally differently from how you do, and you might like a different way better, if you gave yourself the chance.
Try something that you wouldn't have ever thought you'd do before. See how it doesn't feel that bad. (Again, you might start small: browse through the section of the bookstore where you would normally never be caught dead.)
Be courageous. Be spontaneous. Have fun.
A little searching on the Internet says the treatment for the disorder is talk therapy. It's possible that could work.
talk therapy doesn't work see "House of Cards" by Robyn Dawes. Instead use CBT cognitive behavioral therapy.
The cognitive part is understanding that your rituals/behavior are irrational and the behavioral part is actually acting on that understanding against the subjective pull to do otherwise. Good advice on the latter can be found in the link below, with video:
Y'all know the rules: