Feeling guilty when I get help with toddler

Essentially the title. I am 31 weeks pregnant and I have a 19 month old. As I get closer to baby getting here I keep feeling awful for asking or needing help with my 19 month old. The problem is that she only wants me lately. She wants me to hold her, help her, play with her, read to her, etc. I love her dearly but she is a lot to handle and being pregnant sometimes physically I am burnt out and need a break but I feel terrible asking for help from my husband or mom because she doesn’t want them she only wants me. It breaks my heart because I know she can probably sense that something is going to change soon and I want to give her all my time and attention before the baby gets here and she has to share me but it’s really hard some days. Just looking for advice or whether anyone has experienced anything like this and what they did. Thanks.