Are you sure it was a DOS game (or PC game)? Perhaps it had emulator build in...
Your description mostly matches Ghosts'n'Goblins (the graveyard and pile of bones when you die), so perhaps you try looking the game as GNG clone
Do check all Castlevania games.
Also, here are some C64 titles:
Super Dragon Slayer,
Sword and the Rose, Beyond the Ice Palace,
Dragon's Kingdom