Every time I see native Germanic words in Swedish with English cognates, I feel a little bit sad about English using often more cumbersome Latinate words.
Yes, it needs to be "prevent us from [infinitive verb phrase]". However, if we put "stop us" instead then you'll never be asked to translate into stoppa oss, which is good to know in Swedish. I honestly don't think there's a good solution here. We do want to teach it.
It might be easier to imagine using a slightly different sentence, so imagine maybe "He prevents us" vs "He comes to prevent us". So like, if my friends and constantly trespass on someone's land and the owner always comes out to prevent us from doing so, we might tell others about this man saying "Han kommer att hindra oss.", implying he always comes over to where we are to stop us from crossing into his land. The problem is, if I understand correctly, that that sentence would translate to "He will prevent us", even though that might not be quite what I mean.