Can I decide to give guardianship of my unborn child before CPS takes him into custody?

CPS has custody and placed my children with my their paternal family and I am pregnant with another man's baby. My unborn child's father had his paternal rights stripped from him in New Mexico. I have been completely terrified because of the threats CPS has made about taking this baby into custody "right after I give birth". I'm depressed overwhelmed with fear and paralyzed with nightmares. It has made me a bitter person and forced me to bond less(like I needed to) with my unborn child. Its not fare for us to live with this fear. The caseworker crushed my dreams, hope and faith when she smirked happily and said "if you are pregnant I am taking your baby at birth". What does any woman do but run and hide. I needed some support and positive encouragement, not threats and fear. Isn't my right to live without fear a constitutional right? Can I grant guardianship to someone before my unborn child is born and is taken into custody?