Imagine someone instead asked you to wipe down the equipment for them or help putting the weights back. Different signal altogether.
If you see every request for help as someone taking advantage of others, I'd encourage you to reconsider why you view everyone that way. It might also be preventing you from seeking help yourself, out of fear of being seen as a leech.
Let me rephrase, because there seems to be some kind of misunderstanding here:
To me this advice applied broadly would take the appearance of such a signal, even if weak. The framing of "do it because people like to help" is something which wouldn't even occur to me as motivation to ask for help.
Ask people for help where help is actually needed, not to act as your servant cleaning up behind you.