Here is my idea. In GW1 When you completed a mission you would get a shield and 1 or 2 swords depending on the amount of objectives you completed. In GW2 You get 2 swords no matter what you do.
Currently there is no limit to the amount of times you can die on a personal quest. You can keep this (even though it removes all sense of drama and danger from the personal quests) but add a “two sword” style incentive for not dying. Bonus loot or an achievement chain/ title could be fun. Something to allow for players to strive to challenge themselves and be rewarded for it.