Hi there,
I too was worried that I was using medication as a crutch. The truth is, if we were sick with allergies or a cold or any other type of illness, we would be taking medication. And panic disorder is truly an illness, so why wouldn't we be medicating ourselves to help us get through it? The only way to truly become addicted or dependent is to be taking these drugs constantly, so I wouldn't worry about whether or not it is okay for you to take them when you need them. But the day will come when you will pull yourself through a rough situation without popping a pill, and you will feel incredible afterwards. They are simply there to help you until you are better off to help yourself.
Take care and don't worry! :)