Wanting a straw, or a napkin, isn't being in need of help. It's not cleaning up a spill (which is a health and safety issue) and its not cleaning up plates from a sit down table, which is a requirement of the job and has nothing to do with the individual person eating. You can't use the table again without it being cleaned up.
Straws, napikns, condiments, ect., aren't required for every person at every order. Some people don't use straws, some carry their own. Some don't need or want ketchup or salt or insert disposable condiment here. Just like some people want fries with a meal and some don't, some people want ice in their drink, some don't. Its a personal choice and its wasteful to just give them out as a standard without them being needed or desired.