You may also want to consider writing a living, or revocable trust. I have many years of experience in the area of estate planning and am a strong proponent of living trusts. A revocable trust allows you to transfer all of your property into the trust during your lifetime. While living, you will act as your trustee, and all of your property is allocated to a trust which you have complete control over. Upon your death or mental incapacitation, the successor trustee (which you designate) takes over the trust and distributes the assets according to your wishes as spelled out in the trust agreement.
There is never a reason to go to court. A judge never has to get involved. Estate planning not only makes it easier to transfer property out of your name, but it can also help your family avoid the time and costs of probate. It is also good to know that you can always destroy the trust and remove property that may be in it at any time you want.
It is important to understand that even if you have a will, but you don't have a trust in place when you die, your estate will have to go through the probate process. This is the court-ordered way the judge manages the distribution of your assets. Having a trust can also make it easier to transfer your property upon your death. For example, the title to your home is an asset that must be transferred upon your death. Since you can't transfer title after your death, only a judge has the authority to do so— unless you have a trust.