This is such a good question and an impossible one to answer but lets give it a little go. First thing I always say is have a really good birth preference; NOT BIRTH PLAN. Just an A4 sheet and make two copies so you can slot one into the front of your antenatal folder and keep a second one for if there is a midwife shift change. If you have a really good birth preference sheet you can simply go through it in depth with your antenatal teacher, hypnobirthing teacher, doula or midwife for all your options and to help you make some informed choices. It also makes birth realistic and you can have key discussions in place so you can be educated and not shocked if birth doesn't go to "plan".
If you aren't getting the supportive care you envisioned then seek out some antenatal support with a teacher you bond with. It is amazing we have the NHS in this country but they do not have the resources to give us the one to one care you would get privately. But one to one care can be invaluable in some form or the other. If you want someone at your birth then a doula is a fantastic route to go. You can have two birth partners remember! Also don't forget you can have a postnatal doula as well; do not undervalue how much emotional and physical help you might need post-birth. Hypnobirthing teachers not only teach you hypnosis for your pregnancy and birth but also teach you quite an in depth into what you also learn at other antenatal courses such as the NCT. Not as thorough but still invaluable and you could also see if they will be at your birth!
Pick an antenatal class. Whether it be at the hospital through the NHS or an NCT class pick one. I had a client recently who said she just avoided all the classes and thought ignorance was bliss but this was far from the truth. She had a really traumatic birth and regrets not doing an antenatal class which is such a shame. But she is pregnant again and on the ball this time, yay.
Positive energy. May sound silly but just being positive can do wonders for you. The big question I get from clients is "What is your biggest tip for when in labour?". My answer is "Don't get caught up in the moment but think ahead as this process means your baby is finally on the way". It's easy to get flustered and dread a contraction coming on but what if instead of this you focus on how many breaths you could do in one contraction? It will then fly by. Learn the positive energy and relaxation tools for coping and be open to your labour moving in different directions. But make sure whoever is looking after you in labour keeps you informed, part of the process and has your best interests at heart.
Birth is a big journey. Just look forward to it :)