I do believe people want to be in the so called "helping" professions. I do believe it is because those people think they want to "help" other people. I also believe that desire to "help" is not born of altruism, compassion, an idea of what they picture "helping" another is, and/or decency at its core. A person certainly can name them among their reasons, but I don't think those are the most or among the most true motivators that cause a person to do so.
I enjoy my job of teaching at a university and being a lawyer. I am not displeased when I can convey information to students in such a way they understand something useful for them on their path to becoming lawyers. I am not displeased when my clients are happy with the outcome of a case.