I believe he does. I'm not exactly sure, but I remember something like Scourge had a daughter that came for revenge or something? I never finished the series, but I had read something somewhere about it. It could've been fan-fiction though.
Firestar did die. He died from wounds he got from the battle against the Dark Forest. A tree falls on him when it is hit by a lightning but his spirits still lives on in Starclan. His death occurred when he was 8 years old.