Dog particularly pick up on our emotions. If you're always worried and stressed when you go to the vet, your dog will pick up on that.
My dog had a few checkups, not that long after we got him. None were stressful either to him, or us. Since then, he LOVES the vets. He has lots of new people paying attention to him and lots of new smells!
A fear of the vets is a learned response. If your vet is that frightening to them, I would consider looking at other vets.
A good excuse for a quick visit is to weigh them. Most vets I've seen have a dog scale in the reception. If you mention you also want to make sure they are not afraid of a vets visit, most will have zero issues with it. It also lets you check they are growing at an appropriate rate.