Oftentimes the cause of the original panic syndrome has long gone and you continue the klonopin because it has become a habit and because you are afraid of the symptom return.
If you want to go off the medication now because you feel you have matured and can face the challenges of life more squarely, then I would try slowly diminishing the dose...very slowly. You will have some fear to go through, but it will be manageable. Every time you master the fear and begin to see it as part of the anxiety of everyday life that everybody has ( you may be a bit more sensitive by nature), then lower the dose more and repeat.
It is important that you stay in charge of the dose as you taper off. It is important that you see this as an important growth task...something you want to do, and that you are prepared tosay goodbye to an old friend (klonopin) that has helped you in the past.