No, more often than not, the Hero comes to a sticky, or at least sad, end. Heracles gets the poisoned shirt. Jason gets crushed by the figurehead of his own ship. Achilles gets the arrow in the heel. Rustem kills his own son then rides off a cliff. Galahad dies on achieving the Grail Quest. Arthur gets carted off to Avalon. Don't get me started on poor old Sigurd/Siegfried.

Heroes, at least in the Greek and Norse traditions, seldom had a happy time of it! Nobody would want to be one. Their role was to complete their task and die, often in an oddly ritualistic manner. They were sacrificial victims and scapegoats.