Advice for singing from sheet music?

So I've been playing trumpet for around eight years now, and next year I'm going to take a vocal production course. As of right now, I can read treble clef easily, and I'm about average with bass clef. When I read treble clef though, I don't imagine a pitch when I see a G on the middle staff line for example, but I imagine the fingering needed to play that note. I can only sing a song from sheet music after hearing the song, and then I'm not even singing from the sheet music, I'm just singing the song by ear. I was hoping that someone here could explain a good learning method to sing from sheet music, so that I can see a C and sing that C, and do the same for other notes as well.

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