BP or not, women question whether they are good mothers. Were the teachers bad teachers b/c your daughter fell? No, and you aren't a bad mom for freaking out a bit. The drs and nurses are used to it when it comes to parents.
Staying on meds will make you a better mom, though. All children deserve a mom who's the best she can be, regardless that no one is perfect. For us, that means constantly monitoring moods and meds. Just a fact of life.