I've always rather fancied Robert Burns' epitaph 'On a Friend'.

An honest man here lies at rest,
As e'er God with His image blest!
The friend of man, the friend of truth;
The friend of age, and guide of youth;
Few hearts like his, with virtue warm'd,
Few heads with knowledge so inform'd;
If there's another world, he lives in bliss,
If there is none, he made the best of this.

I hope I live to merit an epitaph like that (if you see what I mean).