Yeah, it is.

I spent my whole life doing things for myself, not to mention that there's some things I just like done a certain way &/or by a certain time.

It's always faster for me to just do whatever needs to be done than it is to ask someone to do it &/or explain to them or show them how to do it.

I do try to make a point to try to remember to ask for help & my sub always makes a point of asking me if she help with whatever it is I'm doing.

I think that it is a matter of what has been negotiated.
I do not find it a problem to accept any service that I have negotiated for. It is only the services that I have not included in my negotiations that I trip over.
I don't have a problem accepting a meal being cooked for me, or telling my slave to fetch things. I don't have a problem with my slave getting me a plate of food at a play party for me, while all the other Dom's serve themselves. I don't have a problem with letting my slave pick up the toys after play.
I did have a little problem with my slave offering to do my laundry. It was never negotiated that she perform that service. It took me a little to get used to that idea. Especially since she has difficulty keeping up with her own. She does work full time in a job and there is only so much time in a week to work, keep house and play. I'd rather have a blow job, then to have her fold a load of laundry. I can do my laundry, during the week when we're not together.
So, I see some service as a trade off.
We did not negotiate for her to serve me as a domestic. So, I do stumble when a new service is offered.
I do have fun watching her squirm when we go to a local D/s discussion group. At that monthly event, service is suspended. It drives her crazy that she can not get me a cup of coffee or bring me a plate. She often becomes a clock watcher toward the end of appointed times. And the group is usually aware of it also. I have even got up and filled my cup just before the end of the session, just to torment her.

It upsets me or bothers me when they have gotten things themselves. I think it is because I wasnt being observent enough and I sometimes think if they just relaxed I could get the door first or get tea/coffee or water.

When my male then-Owner purchased me, he stated "I will strive to be worthy of your service." At first, I thought he had it turned around, because it was *I* who wanted to be worthy to serve *him*. When I realized that he wasn't just having a dyslexic moment, I was a bit awed at that kind of humility in a man who was, and remains, such a rough-and-tough, he-man dominant. He confessed to me early on that although he had been in a position of authority in the military, he had to learn to accept service from me, since he had not received it to such a degree previously. He learned. I had no doubt that he would. His self-awareness and knowledge of human nature allowed a synergy in our Owner/slave relationship that I had not experienced before, many elements of which continue to this day, despite the change in the dynamics of our relationship.