No, I mean in the context of the sentence, is it a command form, instructing the reader to dare!, or could it be rendered 'to dare to live, to dare to die,' etc.?
In the first case, the first line could be translated
Aude mori; aude vivere.
In the second case, it would be translated
Audere mori, audere vivere.
I think the first option (stating it as a command) makes more sense, in the Latin at least.