Yes, your Bitcoin will be on the wallet forever. To prevent this situation, you must do something to secure your Bitcoin. Ensure that you back up the data to access your Bitcoin on the wallets. The data can be saved to anywhere that you think is a very safe place for it. Also, you need to let someone knows it, you can choose someone that you most trust in your life. Then, you can tell him what you want to do for your Bitcoin after you die. The message can be saved or left in a secure place as well.