It is definitely a personal decision to take medication, but like Nanners and Kitt have said, if something helps, why not give it a go? I completely understand your frustration with going off the med and wanting to "be ok" and then having your doctor say "well no". I was on zoloft a few years back and it got me through a really rough patch, I could not have done without it as my anxiety was completely unbearable. I had been med free for years with only the occasional bouts of panic and was managing it very well but life took some turns and now I am back near where I was before. I resisted and fought and suffered needlessly (yup and made my panic worse!) then I finally sought help. I am now on a beta-blocker and in times of frustration I beat myself up for "needing medication" and I struggle with just accepting that right now, this is what I need. I need help. I have to remind myself of that constantly and work on acceptance. Its tough, and definitely when you beat yourself up it doesn't help you get to a better place, just brings you down. But I totally understand how hard it can be to just let it go!
I try to look at how my mom deals with her type 2 diabetes, for years she managed it really well with diet and exercise, didn't need medication, it was great. But it was REALLY hard work. It was a daily struggle and a huge lifestyle shift. She now has a grandchild that she is pretty much the primary caregiver for, as well as being the breadwinner at home - she just doesn't have time to manage it like she did. So she's on medication, its frustrating, but at this time she needs help and if she doesn't manage her diabetes... well the consequences are worse than taking a pill everyday. Just remember this is one way you KNOW you can effectively manage your condition. Not that there aren't others, but if you know it works, it is better than attempting to do it alone!