Learning to express your needs when you have chronic illness

I am trying to learn to recognize my own needs and the benefits of voicing them to others. This is both with my family and in the wider community.
Is there really anything wrong with asking for the shopping bags to be carried out to the car?
I am also trying to learn about the best ways to ask for help. The following talk is from people with Myositis and their challenges of expressing their needs as well as some helpful tips on self-advocacy.
Self-Advocacy When Coping with Myositis