I got up and noticed something was coming out from underneath my bed.. reaching out... i ran to the door, and some guy came crawling towards me. I said to myself that i knew i was dreaming so nothing could happen.. i charged the crawling guy and kicked his face in. But i woke just after the impact of my foot.. When i woke up my heart was pumping and stuff...
That point, is the point you screwed yourself. Slow down, stabilize the dream scene, and think to yourself: what does it mean to be in a dream? Well, among other things, it means nothing is real, and nothing can hurt you.

If you can remember that while in a dream, you won't have a fear response. If you don't have a fear response, your dream won't conjure something to frighten you. Kinda odd how the causal sequence is backwards in dreams, sometimes.