Re: Honey bees in general go WAY out of their way to avoid stinging.
No, they don't always die. Here's a short safe for work clip demonstrating a couple bees surviving after stinging a beekeeper. The third one stays on the gent even after working herself free, without a care in the world. Honey bees aren't out to get humans.
Note: If you are in an area where so-called "africanized bees" live, life is a trifle more complicated. For safety's sake, don't approach an unknown hive without the advice and consent of a beekeeper ... Occasionally, even the most docile of hives will get pissy for a couple hours. A beekeeper will see the "come back later" signs that you might miss.