Feeling like a burden

I live with my boyfriend. I have bad anxiety. I always reach out for him so i can get him to comfort or hold me. He always assures me that it's fine because it's something i need but i always feel like im being a burden so sometimes i don't tell anyone about when I need help, which make my issue worse

Is there any way i can help myself from feeling this way? Am i doomed to feel like I'm being a burden or do a lot of people with anxiety and panic attacks hav the same issue?