If some one who threatened to kill you and had said they wanted nothing to do with their child and has felony's on his record wants to take you to court to get custody of his child all of a sudden can you get a restraining order against him so he can't see you or the child?

When did they threaten to "kill" you,

But most likely no, since there is no real threat or danger

He can of course get visitation with the child, even at some risk, he could get court ordered supervision with the child.
So you can not have to see him, he is not asking to visit with you.