I don't think a PM should do much estimating. It is the team that should estimate the effort when given goals.
>SET EXPECTATIONS AND NEVER ABANDON THEM
This somewhat contradicts the agile way. Yes, I do think that expectations should be discussed and set but I don't think you can promise to never change them. People can change their minds, communication may have been missunderstood, technical difficulties may be larger than the team first thought, etc. I think you need to be able to change scope and/or expectations in a project.