I think he became too attached to them, and I don't think he ever planned for them to die. I think mark brings up a good point when he says they also live to show Frodo's dwindling away and insufficient life after the destruction of the Ring. Also, you can't make the "chief hero" (Sam) die! The death of Frodo and Sam after all they've been through would have made the story utterly depressing.
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"Loud and clear it sounds in the valleys of the hills...and then let all the foes of Gondor flee!" -Boromir, The Fellowship of the Ring
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