My first birth was in hospital w/an epidural as well. It was an "ok" experience, but in no way what I had wanted. My second birth at a freestanding birth center, with a CPM. All natural, no option at all for meds of any kind.
I will be honest. During labor, I wished in my head for a c-section, anything to make it stop. But I never said my code word for transport, I may have thought it over and over, but I never got to that point. I did beg to make it stop, but again, transition sucks!!!!!! and thankfully, in my case, did not last long. And in the week following her birth, I was intensly proud of myself and very startled (traumatized in a way?) by the power and pain of her birth. Screaming "I did it" after her birth was wonderful and I think of her birth as a fantastic birth, even though it was the most painful thing I have ever experienced.
I get my motivation by fear of losing control in the hospital. I would bet big money that if I were to birth in the hospital, I would seek an epidural, just to be able to deal with the hospital bull! I can't really seem to describe what I felt in the hospital with my first, maybe scared, angry, helpless. I don't want to feel those things again. I also remind myself that it really is "best" for baby and mom to birth naturally. All the interventions simply lead to more, and sometimes a surgical birth/delivery. I know I don't want that if I can avoid it.
And most of all, I felt loved and powerfull in labor with Audrey and after. And those endorphins are wonderful things!
About hynobirth, I have heard good things about it, but havnt looked at it myself. I did really like "Birthing From Within", and Ina May, really helped me prepare.
Good luck, sorry if my rambling doesn't make much sense, one of those days!