What are your wishes for your pets? Any friends who want them? If so, calculate how much $ their support will cost for their lifetime, and will this to your friend. In case friend cannot, or no friend, specify a rescue or foster organization in your will that will rehome them, and consider leaving them a donation.
You need powers of attorney for both health and financial affairs today in the event you become too ill to manage them yourself -- these are a "springing" POA which goes into effect only when your doctor certifies that you are unable. You can specify parents but be sure to also specify others you trust in case your parents cannot. For health, you can specify a medical practitioner who is willing but this person cannot be your attending physician. Organize your finances so that your designated POA can easily step in.
Your state specifies estate proceeds if you die without a will and attempts to designate your next of kin as executor. Be nice to your parents or friends and get a simple will so they don't have the expense of petitioning your local government to act in your behalf. There are banking firms that will wrap up your estate for a fee -- you should choose and specify one as the last one in your list of executors in your will.
We've had older relatives sell their house that they no longer could properly take care of and move into a continuing care retirement community (CCRC), sometimes known as a life-care community, a type of retirement community in the U.S. where a continuum of aging care needs—from independent living, assisted living, and skilled nursing care—can all be met within the community. Typically these require a buy in that refunds 90% when the resident moves out (usually when dead). The catch to a CCRC is that you must move in while you are still capable of independent living. Many have a wait list.
Start organizing your affairs now. An excellent guide is Get It Together: Organize Your Records So Your Family Won't Have To, by Melanie Cullen.