I stopped being scared of wasps after learning how to read their body language. Quiet buzzing and relaxed wings = calm, whereas loud buzzing and raised wings = mad. Plus, as long as you're not allergic, a sting is just temporary pain, which definitely isn't worth taking their life. Wasps are literally just animals, and we should be kind to them.
Be aware that wasps can also cause large local reactions. They're similar from an allergic reaction, but not at all based on an allergy. It's just your body over responding to the wasp venom near the sting. Try to avoid getting stung if you can, but no need to kill them