If a soldier fears anything, he fears dying alone on the battlefield. That is, he fears being by himself when he dies. He does not long to have someone else die with him, but just for someone else to be there, to know where he lies, so he is not forgotten.
That is why some would consider the sole sniper to be the bravest of all, for theirs is a lonely job, and it is very feasible that the sniper go out and never come back.
Of course, I think that submarine crews are the bravest, but that's because I have a small issue with drowning.

Note: all references to he are stated in the collective 'soldier' sense and actually could mean she as well. So don't turn my words into a feminist vs the world argument.