Atmospheric pressure decreases with an increase in height because pressure is created by collisions of air molecules, the quantity of molecules (and so weight) decreases as the height increases.
In fluids, pressure increases with depth because as the depth increases, the mass of liquid above that depth also increases, meaning that the force due to the mass increases.
As the density of a fluid increases, the number of particles in a given volume increases, leading to a greater weight of the fluid and a larger force from the fluid above a certain point.