Well, Goku dies in the manga in different ways. Sometimes it's due to his selfless acts to protect the universe from major threats. Other times, it's because of battles against extremely powerful villains that he can't overcome without giving his life.
Goku sacrifices himself to save the Earth from powerful enemies on multiple occasions in the manga.
Goku's deaths in the manga are often heroic. He might use up all his energy in a final showdown or make a noble choice to save others at the cost of his own life.