Requests for help are not a invitation to be rescued or saved. Which means, it is okay to ask for help (you aren’t asking to be rescued, saved, or bailed out).
And when you offer to help someone else, it’s useful to ask: am I doing this because I don’t think the person can do it without me? If so, what part of me wants to be rescued? And how can I support that part of me? Once we’ve dealt with our own needs, our ability to assist others becomes much more genuine.