Actually he does not die. At the end of the moment when he was going to fall in lava, he saw a ginyu's ship and escapes from namek. And lands on a mysterious planet, and learns instant transmission there only.
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Wish on namek dragon balls
He doesn't because Namek was going to blow up. Goku went in a Ginyu Force member's ship and put in random coordinates. He woke up on a random planet called Yardrat. It is theorized that Goku was learning the Instant Transmission technique when he was haled to return. Since Goku is stronger than the eternal dragon he was able to refuse returning.
yes he does because on namek they wished back every on frieza killed
From Cell?
Yes, Goku wins the battle and leaves in time but the people on earth try to wish him back to earth but he decides to train in space as a super sayan than come home with his family. But, Frieza is still alive and with his dad king Cooler to give revenge to son Goku but Goku is still not on earth yet and might come home to the horror on his friends death.