It sounds like you're describing a type of dream known as a "lucid nightmare." In these dreams, you may have awareness that you are dreaming, but you feel powerless to control the events that unfold. The horrifying or distressing elements, like being attacked or encountering frightening figures, can cause significant anxiety and fear.

The fact that you were able to pinch yourself to wake up suggests you had some level of lucidity, which is common in such experiences. This type of dream can often occur during times of stress or anxiety in waking life, so it might be helpful to reflect on any current pressures or fears you might be facing.

Since this dream has recurred since childhood, it could also indicate a long-standing theme of stress or fear that your subconscious mind is processing. To cope with these dreams, consider practicing relaxation techniques before bed, maintaining a healthy sleep environment, and keeping a dream journal to help process and understand the emotions tied to them.

If these dreams become disruptive or distressing, it might be worthwhile to speak with a professional who can help explore these experiences further. Remember, you're not alone in experiencing lucid nightmares, and many people have similar dreams throughout their lives.