My birth didn't go as planned at all, but the hypnobirthing stuff did help, particularly in the early stages (I was having contractions for about 3 days on and off). The breathing techniques helped a lot and made the pain bearable. What also really helped me was knowing that it would pass, it all passes in the end, no one is in Labour forever, so focusing on that got me through a lot of it. Also hypnobirthing is big on the 'no bad birth stories' idea, it really gives you permission to stop people from sharing their horror stories with you, some classes even give out little badges for you to wear saying 'positive birth stories only' to stop people scaring you with their war stories.
Also if you're really afraid of the pain, I can tell you I had an amazing experience with the epidural, it was fantastic. Once they put it in I slept through a good chunk of my established Labour, which left me well enough rested for the pushing stage. I would highly recommend an epidural, I'll be having one again if I have another baby.
I also have a theory about people and bad birth stories. I think people share them because there is a certain amount of pride in surviving a really rough experience. But I think it depends on how you look at things. My birth story could be a 'bad birth experience', 3 days early Labour, turned up at the hospital begging for help, missing out on my midwife unit/water birth due to the need for pain relief and catheterization, waters broken for me and urgent induction at 4cm dilated due to baby being in distress, But if you look at it positively, I was taken care of by an amazing team, and once I arrived at the hospital, they totally managed my pain, helped me rest and sleep, rehydrated me and helped me deliver my son safely without forceps or ventouse (which I was terrified about) and so I feel very positive about the experience I had. Not everyone will have that, and I appreciate that some experiences genuinely are just bad all round, but sometimes you can choose to focus on the positives.