Create a space within yourself and around you where people feel comfortable to ask you for help.
Insisting to help someone without them asking is intrusive, disrespectful, and never beneficial to those involved.
Never rob someone of the beautiful experience of asking for help. Never rob someone of the beautiful experience of saying thank you from the bottom of their being. And never deprive yourself of the experience of being asked for help, really helping, and being indeed thanked.
Focus on yourself, better yourself, and create that space.