As someone who does not fear death anymore I would ask you to find out what exactly it is you fear? If you have regrets or something you have not done you want to do you should either go do that or be at peace that you did not do it. Sometimes you also need to realize that what you are regretting you should not be. For example sometimes not taking advantage of an opportunity which you may be regretting actually led to something else much greater.
If you fear for the people around you having to deal with your death you can take precautions and make their life easier.
If you fear debilitating illness you always have the option of going when you decide[1] and there is absolutely nothing wrong with that.