I want to preface this by saying that I am in counseling, and I know that it may or may not be for everyone but I want to share the benefits and what it has truly offered me.
Counseling is not just for traumatic events, or psychological disorders. Counseling can be very beneficial for stress-related issues such as family, school, work, relationships, etc. or even anxiety and depression.
I personally have a lot of issues with coping with my anxiety, and I panic more than I would ever have liked to. I thought it was a normal thing to get so panicky that I would get internally shaky, and I would have trouble functioning, but obviously seeking help was my best option. The most important thing to know about counseling is to know first-hand that you shouldn't feel embarrassed to ask for help. Help is good, and it gives you many more options in dealing with things, and different ways to deal with those things. People think that they have failed themselves and/or others when they have to ask for help, and the only way to get around that is by having a "growth mindset" and embracing change.
I have slowly begun to understand why I get so panicky, and I am still in the midst of learning how to deal with things that trigger that panic in me. Don't be afraid to get seek help, for anything. These people are here to help, not to judge you or your situation. Their job is to help you understand your way of thinking and to help present options with dealing with these triggers.