I don't really want the program to die

Well, you can catch die's wrapping them inside and eval block. Or you can handle errors in a different way, for instance, using the return value from the expect method:

my $r = $expect->expect(2,
                        [ qr/configtest:/ => sub { shift->send("$pass2
+\n"); exp_continue;} ],
                        [ qr/Sorry/       => sub { print "Login failed
+\n" } ],
                        [ qr/.*#\s+/      => sub { print shift->match 
+}]
               );

if (!defined $r) {
    print "Timeout!\n";
}
elsif ($r == 3) {
    $expect->interact();
}
else {
    print "Login failed!\n";
}
[download]

Regarding the error you get:

Variable "$expect" is not imported at ./test.pl line 28.
    (Did you mean &expect instead?)
[download]

You have some error in your script but without seeing the source code it is difficult to say what! You are probably not declaring the variable $expect in the right scope.