I don't see one's needs/desires versus/along with someone else's needs/desires as the same concept as in the original quote. And I think it is very easy to confuse needs and desires.
But the original quote - about feeling guilty when the thing one feels guilty about has no bearing/was not within the control on/of one, is a bit self centered it seems to me. It keeps the focus on oneself and not the other. I don't feel guilty about not feeling guilty about things that I have no control over and that ultimately have nothing to do with me.(so maybe I am a bad guy, but I don't feel guilty about being a bad guy for not feeling guilty enough). Now if I make some whose day is going badly, feel worse because I was more than usually thoughtless or mean or what ever - then guilt seems appropriate and I will apologize or help out or something - and then go on with my life. Or I accept that I was a jerk and can decide do I want to be a jerk or do I want to change and then change - but continuing to feel guilty without the change is an indulgence as is feeling guilty over the fact that we live after the fall.
Sometimes when I observe others going on about how guilty they are about x, y, or z, it seems the guilt is being used as an excuse or indulgence.