Luciapath, what seems to be common here, as well as in the writeup of "sleep paralysis" on Wikipedia, is that people always wake-up from lucid-dreaming/sleep-paralysis, and the "presences" are gone. After all, this is not one of Dr Strange's "Strange Tales" * .... IMO the presences are just you, they are not independent third parties that can do anything to you, even though they're the more real than the tigers chasing you in a "normal" dream.
So you've already gotten to the next step of realizing it's sleep paralysis. Sooner or later you will be able to combine these two things - your knowledge that it is sleep paralysis, and that the presences will be gone when you get back to earth - and during the dream itself you will be able to recognize them for what they are ... you might even at that point feel like dropping the label "sleep paralysis" and replacing it with "lucid dreaming".
Then, you'll be unafraid of them. Perhaps that corresponds to some kind of subconsious integration of them into your psyche, you'll have outgrown their scariness and they might appear as something else, no longer scary.
Don't forget the eastern religion "gods and goddesses" appear in art as both compassionate and scary forms. The scary ones are there to remind us of the stuff we need to work on - hatred, greed, lust, avaraice, etc etc - until our understanding of ourselves and the universe opens up.
*"Dr. Strange's adventures take place in bizarre worlds and twisting dimensions that resembled Salvador Dali paintings. ... Inspired by the pulp-fiction magicians of Stan Lee's childhood as well as by contemporary Beat culture, Dr. Strange remarkably predicted the youth counterculture's fascination with Eastern mysticism and psychedelia. Never among Marvel's more popular or accessible characters, Dr. Strange still found a niche among an audience seeking a challenging alternative to more conventional superhero fare."