I think it probably gets better once you know what it is. I stopped freaking out about my tendency to get sleep paralysis after I studied up on it (that's one of the "body's asleep, brain's awake" things). I mean, yeah, it's annoying, but then... meh. A bit of adrenaline never hurt anybody.
I've always had issues with sleep. I have circadian rhythm sleep disorder almost by default, and have to keep to such a strict schedule it's ridiculous. I've had chronic nightmares, and regular lucid dreams. I didn't sleep through the night as a child until I was six, and not always then. I think I've just grown to accept that my sleep is going to be weird, and learned to live with it.