How can I stop procrastinating and actually do my tasks right away when needed?

Use implementation intentions combined with environmental design. Decide in advance: when this trigger occurs, I will do this action.

Example: 'When I sit at my desk at 9am, I will immediately open my priority task not email.' Remove competing stimuli from your environment. Reduce the number of steps between you and starting to the absolute minimum. Pre-load your workspace the night before so starting is the default behaviour when you arrive.