If you want your parent to not exit immediately after spawning its children, then as Barmar told you, use wait.
Now, if you want your child processes to die when the parent exits, then send them a SIGTERM (or any other) signal just before exiting:
kill 0
(0 is a special PID that means "every process in the parent's process group")
If the parent may exit unexpectedly (e.g. upon receiving a signal, because of a set -u or set -e, etc.) then you can use trap to send the TERM signal to the child just before exiting:
trap 'kill 0' EXIT
[edit] In conclusion, this is how you should write your parent process:
#!/usr/bin/bash
trap 'kill 0' EXIT
...
spawnedChildProcess1 &
spawnedChildProcess2 &
spawnedChildProcess3 &
...
wait
That way no need to send your signal to a negative process ID since this won't cover all the cases when your parent process may die.