Never. Goku died taking a shot for the special beam cannon,he wasn't killed by the enemy,he sacrificed himself. Goku also gave up himself,along with King Kai's planet,to stop cell from killing everyone. So,both times a sacrifice.
No one? Trunks didn't die,and Gohan had full control until he got cocky. Also,he tried to wrap up the fight with Frieza with a spirit bomb. It didn't work,but he tried. And also,when he was trying to make it to Earth during the Saiyan Arc. he thought he can make it back in time. Also,the androids were pretty much Vegeta's fault for letting Cell absorb the other androids.
Everyone died from their own choice,Goku never told them to go out there and get their selves killed.