I don't think you are needy at all.
Me and DH have been married 39 years and most days speak on the phone or text each other.
I don't work now but when I did he would phone the office (before mobile phones) to check I had got to work ok. I thought that was lovely. He was a paramedic and saw so many horrible accidents he wanted to know I had made it safely.
I tend mainly to phone or text him if I need to speak to him as there are times he can't use his phone due to being tied up with work. He will phone or text me when he can though.
He sometimes goes away with work and will always phone and text me. He phones or texts when he gets there to let me know he got there safely and, if not during the day, always in the evening, often a couple of times.
We are not needy or insecure. I agree with the poster who said about phone calls and texts after a while becoming just about buying milk or collecting children from school.
I think it is nice to keep in touch during the day. Sometimes we want to chat - we always seem to have a lot to talk about! Sometimes it is just to say "I love you".
We don't take it for granted that the other is fine but we don't think you should. People have accidents every day. I am often at home on my own and DH works, most of the time, on his own. Anything could happen