Air carrier Captain reported a terrain warning during approach to CHO airport. Crew executed a missed approach and returned for uneventful second approach.

Narrative

GPWS 'Terrain' Warning occurred during an approach to Runway 03 at CHO. Turning right base to Runway 03; about 11 miles from the runway. A few moments earlier; we were given the visual approach to Runway 03. Captain (PM) accepted the visual; FO (First Officer) (PF) proceeded to maneuver for the approach. Descended to 2600 ft MSL to position to intercept final approach course for ILS 03 FAF SIPME. Upon hearing the terrain warning; we discontinued the approach and climbed to 4000 ft; informed Tower. Tower instructed us to fly runway heading at 4000 ft and contact Approach Control. Vectored for complete ILS. Uneventful reattempt.Cause: Causal factors extended back to briefing; general tiredness; and a lack of assertiveness on my part. The FO briefed the approach completely; and definitely briefed the company pages restriction on night visuals. I noted the same when the in range message came back. Between then and actually beginning the approach; that element dropped off. It was a very clear night; approach gave the visual; we accepted. The FO then started a descent to 2600 ft; which is typical in a normal visual to match the altitude for the fix you are about to intercept. Then he extended the approach a bit; in order to be more stabilized on final. All seemed prudent; but something was off; and I should have been more assertive. It is my responsibility to command the aircraft; and direct adherence to policy. This is my biggest takeaway; and I expect to be hyper vigilant on night visuals in future.Suggestions: While all responsibility was ours; ATC vectors for visual at night could come with a caution. The set up for an extended downwind it typical; and muscle memory tends to take over in such cases.