If something happens to me I don't want her father to get her. How do I terminate his parental rights to where my family will get her he has no financial means to take care of her

You can't unless you get married, and your ex consents to let your husband adopt. You can't will custody of a child to someone, and he is her father, regardless of his financial situation. His blood makes him the first consideration for custody were you to pass away. There is really nothing you can do here to ensure that someone other than her father receives custody. As the only surviving legal parent, the primary responsibility would be his.