Do you ask people if they want to hold your baby?

I’ve never asked someone if they wanted to hold my baby. If my friends or family are around I would definitely let them if they asked but I don’t go out of my way to say “do you want to hold him/her?” kind of thing. I was recently told that this is weird and maybe I’m offending people by not asking, but I just feel like if someone wants to then they can ask and I’ll say yes if it’s someone we know and trust which are the only people who are around our kids anyways. I never thought of it as weird before, I actually kind of think its because I don’t like holding other people’s kids because it stresses me out when I don’t know them well and they start crying or I don’t know what the heck they want. Growing up so many people ask “do you want to hold him/her” and id politely decline like no that’s okay and then they’d be like “oh are you sure, are you sure? You won’t break him...” etc.... and then I’d say yes because I felt obligated even though I seriously didn’t want to lol. Anyways I love holding my kids but I never want to make someone else feel awkward by asking them to hold my baby so I wait until people ask. Is it rude not to ask?