I'd really strongly suggest doing some preparation, learning about your options and preparing for other ways to cope than pharmaceutical pain relief if that's not what you want. Honestly, I had a completely natural home birth (first and only baby, so far) and it really wasn't bad at all. I found it very manageable. Uncomfortable and tiring at times (was doing lots of squatting), but I never felt like I needed any pain relief or like I couldn't cope. BUT I also did a lot of research on what I wanted and alternative ways to manage any pain (because having a home birth, I wouldn't have many pharmaceutical options available to me). I think preparing was really important. I learned strategies to cope and make things easier (did natal hypnotherapy, plus just did yoga and practiced relaxed breathing) and they worked! If I hadn't had those at my disposal, it would have been a lot more difficult. Also, if I had needed to go into hospital and needed a higher level of care, it was important to know enough about what was happening so I could make the best and safest decision for me and my daughter. All pain relief drugs (other than gas and air) do have side effects and are linked with birth complications. If you get to a point where you might need them, I think it's really important to know what you would be comfortable with so you don't have regrets later. In that sense, I don't think ignorance is bliss.
But you've read up on it and as long as you know how you feel and what you'd choose if it came down to it, then that's enough. If you need it, you'll probably be glad that you can make an informed choice at the time. If you don't (and you likely won't), then it won't matter that you took those classes or did that reading or whatever. I never took the hospital antenatal class (didn't plan to birth in a hospital and didn't plan to use pain relief) and I didn't feel like I missed anything. But the class I did take was really helpful, focused on how birth happens and managing pain naturally. I don't think you need the big scary this is what an epidural is kinda class to be prepared, as long as you are still preparing somehow. But really, birth is so very manageable if you make it manageable (no induction, stay upright and walking for as long as possible, don't lie on your back, stay at home as long as possible if you are planning a hospital birth, etc.). I had knee surgery and also severe pneumonia a few years ago, THOSE were painful. Birth wasn't bad at all. It wasn't close to the worst pain I've ever felt. And I'm planning another home birth for the next baby (when we have him/her) too.