Even without being wealthy, estate planning will give you peace of mind.
Start with a will. Creating a will does not mean that you are morbid or rich. It means that you are prepared.
Normally, you will list all of your assets and beneficiaries of those assets. These should include all accounts, all money, all investments, and all non-liquid items. You should also include retirement accounts and life insurance policies.
Tip: On life insurance policies, if your named beneficiary does not match your will, the insurance policy will be used.
The next thing that you should consider is a trust. Normally, these are more expensive to set up and operate. These are usually used when your asset sums are larger. You should speak with an attorney if you have any questions.