8state - counselling is available free to clients via the NHS, Employee Assistance programs and various 3rd sector organisations, those who pay for a private counsellor do so by choice (and yes, of course because they can afford it).
The benefits of using a private counsellor for the client tend to be around instant accessibility, being able to choose the counsellor and having a choice about the amount of sessions. Fees and affordability are usually discussed with a client before or at a first session, many counsellors offer a sliding scale fee and / or would look at how sessions may continue should a clients ability to pay change over time (they may offer the client fortnightly sessions for example instead of weekly).
That said counsellors in private practice are performing a skilled job and will usually have spent a lot of time and money to get to where they are, they also have to pay membership body fees, marketing costs, monthly supervision fees and often room rent in addition to ongoing professional development costs, so the hourly rate they charge is not their take home pay by any means.
It is not unusual though for counsellors to feel a tension around charging for their services because as you say it can feel wrong to charge for a relationship, I have struggled with this myself at times but I have come to realise that the therapeutic relationship is not like any other relationship, it can be enourmously powerful and life changing for people, and as such is a real investment in self and wellbeing.
The Samartitans is a great service but samaritans are not counsellors, they are trained listeners with a particular and very important but limited role. Some samaritans of course, do go on to train as counsellors.
I don't find any of what you've said offensive, you've raised interesting issues and similar topics are often debated amongst counsellors in training.