How to Say Thankyou Without Feeling Guilty

Some people seem able to ask for help from the people in their lives easily, at least it seems that way from the outside. From asking people to help them move house, to borrow someone’s SUV to pick something up from the hardware store, to wake up early to drive them to the airport, to ‘swing by and pick up a thing on the way over’, to finding some product to bring back from a European city we’re visiting.
It might be calling a friend to talk about something we’re worried about, or to ‘sense check’ a major decision, asking them to change a plan because it would make it easier for us. Perhaps it’s asking someone to pick us up from the hospital after an operation.
How do people ask for help without feeling like we are a pain? How do we know that it might strain our relationships, and how come some people seem to have such confidence when they are asking for help, while others never seem to ask? What if our ealier experiences in life taught us that pushing ourselves to the limit is an admirable thing, and taking the easier route, asking for a break, or for help, is a bit shameful?