How sorry I am to read this post. It is really sad when they leave. I didn't know grandparents, and both of my grandmothers left within a month of each other.
Those were rough times, as death settled in the family and in two years took a few of them. Do you get over it? Yes, time helps with that. In the meantime, it only remains to remember them in their good and beautiful moments, that also helps with the pain.
I don't think death is something we get over, ever. We can grow bigger than our own grief and that's part of life.
It is not overcome, but with time sadness gives way to nostalgia and it is more bearable.