The books & antenatal classes say, "Never turn down an offer of help once you have a baby." I no longer have a babybut I do have a toddler and a 4-yr-old!and still feel that wisdom applies.
But I just had a guest here for a week. She comes from the southern US where there is a strong tradition of hospitality and of guests never lifting a finger. (This tradition seems to apply in parts of Ireland, too, and the Mediterranean countries.) On occasion I accepted her offers of washing a few dishes etc, clearly to her surprise. She doesn't have kids herself so might not realize how up to my neck in chores I am as an essentially single working mother. I mean, her grandmother and mother did EVERYTHING themselves, so why can't I, she was probably thinking.
I find that despite making myself ask for & accept help, I still have a bit of guilt about it. I feel not quite as good a person as I could be. Does anyone else struggle with this?