Mitzigem - it may be that this type of "help" is a bone of contention...
It sounds like exasperation to me to be honest.
We all know what is actual help to us (personally) with a baby.
Just ask - but be careful not to criticise (or imply criticism). My parents (for example) always offered to hoover. They asked can they "help with the hoovering" nearly every visit. It was really irritating as I "knew" it meant that they thought I was living in a pigsty. Now I'm older and wiser I "know" they were just putting their ideas of how a home should look onto mine.
. They truly loved me and I loved them but they were often at the receiving end of sharp comments - and these usually were around their ideas of "helping".
The things that helped me most was cooking a dinner for us and just dropping it off without coming in, washing up if someone did come in (but not mum and dad as that is criticising), emptying bins (but not mum and dad) , hanging the laundry out and putting in an hour in the garden... These are all difficult tasks at first with a baby in your arms.
If my parents had suggested that they could "come over to help" I would have been annoyed if they then said "I can’t wait to have a cuddle with baby"... it is definitely mixed messages.
BTW, My parents always had baby cuddles when they visited. Luckily they generally discussed when to come as they were a fair old drive away!
The things I loved them to help with were the things they had special talents with that I felt I did not. My dad was a super-whizz in the kitchen and garden he laid great fires. Mum was terrific with mending and sewing as she was a tailor, she helped with ironing (think fiddly Laura Ashley!) washing changing curtains and other big jobs.
She was endlessly patient with older children learning to knit etc. and (later) when we had more babies both would entertain older siblings so I could have precious time with my new baby.
OP. Please don't just think the worst of this little family. Truly listen to them and try to help on their terms with the jobs that they really want your help with. Think if you have "special skills" that are useful - and if you feel not, cooking is always appreciated I think...
Leave them to muddle through with the rest. They will be stronger for it in the end.
And you will be seen as a safe pair of hands and get plenty of cuddles in due course.
Good luck.
💐