This is a topic very near and dear to my heart, so much so that I wrote my own treatise on this back in the day. You're very astute in recognizing the reasons why limiting healing and death is good for roleplay; if death is frequent and temporary, the world holds no real danger for you, and everyone becomes a suicidal maniac because nothing matters.
I'll spare you the entire thing unless you really want to read it, but my piece has something that adds to your viewpoint fairly well. The theme of the piece was that damage sustained in combat and subsequent healing, so long as you aren't reduced to zero health, is far less dramatic than you might imagine. Hits that do damage might not actually be hitting you, but rather slowing you, tiring you, forcing defense, and similarly warding you from an otherwise offensive position. The swings you take are taken by parries, dodges, and indeed the occasional scratch, but generally leave your character unhit. It's only when you run out of health (in game terms) that you take your first real hard blow - a firm crack to the skull, a debilitating stab through the shoulder, maybe getting sent to the ground with the wind knocked out of you, maybe even a fatal strike leaving you in your final moments. The character "death" need not be a real death as you might just be KO'd or windless.
This means that healing spells are similarly less dramatic. Individual healing spells might be so subtle as an invigorating wind to boost your morale, or a bit more oxygen in the blood so you feel less tired. Classes can theme these healing spells as well - a Power Word: Shield is a powerful psychological tool in that the next committed strike will be effortlessly deflected, giving the receiver of the shield an opportunity to press the advantage. A shaman's Healing Wave might be a temporary boon from the very earth you stand on to help you keep your footing. A hunter's Mend Pet heal might be nothing more than a few encouraging words from the master to the pet ("Go get 'em, boy!"). Resurrection spells are similarly toned down to something that can, with a good amount of effort, actually close a wound or bring back to consciousness, but not something that can easily and quickly reverse even recent death. Depending on your purposes, you might even disallow such healing in favor of a scar, a coma, or a permanent death.
The active part of this sort of methodology to the roleplay doesn't come up all that much - it's typically something that you keep in mind in the back of your head as combat plays out. It might, however, effect how your character acts at various points in combat, acting winded at high health totals, and perhaps wiping some blood from yourself at more critical totals. Really at the heart of this is the idea that wounds and death ought not be tossed about lightly and without real consequence.