Just like a dream scene, you can change the hallucinations you see and hear. If you hear a scary voice - ignore it - that voice is now puppies!

I think the key for you will be to just get past the stage of hallucinations without being scared enough to wake yourself up. The hallucinations you're getting in SP mean you're very close to transitioning, all you have to do is ride it through

To me, I've never really had scary hallucinations or been worried about it because of the understanding I have of the WILD technique. Learn what sleep paralysis is in relation to your body and your sleep cycles - the purpose it serves and truly try to understand that everything you hear are temporary hallucinations of your own mind signalling that you're about to finish your WILD