Blood pressure 140/100. To lower my bp?

I have anxiety issues for 8 years and whenever I get admitted to an ER during panic attack, my blood pressure will be 150/100. Recently my anxiety levels are elevated in general and I get more stressed when using an automatic machine. Whenever it starts, I can feel my heart racing (like pulse rate reaching 120 suddenly even if I was calm before starting), hyperventilating & more stressed on what the reading will be. Then it shows 140/100 or sometimes higher. When I go to a doctor in person, they test it manually & they always say it is 120/80 or lower (happened 4 times). Can this spike in BP due to my anxiety? My ECG, echo & blood works are fine but recently I get frequent fatigue, dizziness and my mind immediately starts to panic that it maybe due to high bp. Should I start taking a medicine to lower my BP?