I don't think it's fear that drives this either,even hard characters like Chopper Reid here in Oz,a notorious criminal,stand over man and comedian,when dying,said he was going to be with Jesus.I don't think he feared death but acknowledged a heaven when he was close.If he is welcomed there it gives hope for all of us lol. I think my childhood turned me against the idea but even I have reached out for God's help when there seemed no hope,and it always came through.
I believe that God is always willing to forgive us, but he has a very strict rule on that and is, he will forgive us as along as we forgive others, that have sinned against us, This is in the Lords prayer. We must replace our hate and bitterness for others with love. This can be very hard to do, forgiving someone that has caused you a lot of pain.