Honestly, me too. In the recent TB video, he mentions that you do get a skill point as you level. So it sounds like it will work like GW1 and you should get points just from leveling (and getting xp at max level). That makes me happy. I like exploring, but I like being able to skip certain tasks because I inevitably fall down into the lava / reactor / whatever.
If I'm not mistaken you can also spent the skill points yourself and thus choose the skills you wish to unlock. So you're not required to do a certain thing ('quest'?) for a specific skill. At least that's how I understood it after seeing some beta vids.
At least it's not like Megaman
As long as it's not permanent stat boosts or anything, I'm cool with it. I enjoy exploring and having a challenge, but I want to do it for fun, not because it's required to max your character.