Let them. Take them up on the offer. I recently sent a friend out to buy toilet paper and aluminum foil. She was happy to run the errand and I was happy to have the supplies.
In a home of recovery pride and the American spirit of "I can do it myself," have no place.
Besides. People feel good when they are needed and when they can serve a purpose greater than themselves.
Give the gift of asking people for help. Especially when the help is already offered.