I've thought about this question for a long time now, sorry if this response is a bit winded.

I think even now I am still learning how to draw, I have taken very few art classes in my life (probably for around ~1 year out of the 10 years I have been drawing). I think if you are starting out, it is very important is to "learn" how to love drawing. For me, I have very mixed feelings about my art, but ever since I picked it up, I was never able to let go of it. I see it in everything and everywhere. I drew things I like, what I saw, what I thought, and what I felt. I think as long as you grow, your art will grow with you. It is never a linear process. I think if you have been drawing for a while, and if you want to improve your skills, it is best to consciously draw and see where you want to improve. Have a friend or mentor look at your work if you aren't sure yourself. ALWAYS draw out of your comfort zone, use references, look to real life, and be kind to yourself.