As you say you're very lucky to have such caring AC and to have them nearby to be able to help - maybe you could keep a list of the small jobs you would appreciate help with and when they ask just say oh yes I was meaning to ask if you could do such and such for me? That way it's actually giving you a bit of help whilst keeping your independence but also making them feel better too.
We have the opposite problem - we've never had anyone to help with anything since our sons grew up and moved away and my parents have gone. When my dad was younger he often did little jobs for us and took the dog out every morning when we had one. As they aged it became the other way round and we looked after them. Now if anything has needed doing we have had to do it ourselves including things like moving furniture however in recent weeks we've been renovating a place back in our home town 60 miles away and have had so much help from my BIL who is 7 years older it's been wonderful. Also although we've obviously paid for it an amazing tradesman has done loads of different jobs apart from fitting the kitchen which is what his original remit was. He too has travelled the 60 miles every day, worked till late at night and whatever my husband has struggled with he's just calmly taken it on. Sometimes you just have to realise we are no longer 35 and need to ask for help and accept it when it's offered.
Anger management!!! Help needed.