I guess you should bother now because you didn't before :P. You said it yourself, this is serious enough to seek counselling and if you feel you should than you should.
We all fear rejection or being a burden, deep down at least, and it can take a lot of courage to try despite the fear. So if you could try and work, why not try therapy too. Sooner or later you have to succeed. And I'd like to know that you have .