It's good to make sure that a couple people you deeply trust (a spouse, and child, a parent, etc.) have access to your keys. That way when you kick the bucket then they can use the coins.
Of course, if your family and friends don't understand Bitcoin that makes things a little difficult.
The Bitcoin Dad Pod has a fantastic episode that covers all of the difficulties and nuance of having an estate plan for Bitcoin. Solutions are a little weird right now but people are building some legal and technical frameworks for it.