I think that your feeling you could use some help, and actually looking into the insurance, is a valid reason to go. You don't have to be out of control, and extreme, to "deserve" seeing a Counselor. It's great to talk here and with understanding friends, but a therapist gives all attention to your needs for an hour, and knows how to answer questions about deeper or more personal thoughts than your friends do. If you still have insurance of any kind, you could call the company for a list therapists they have in your area. Some insurance cos. have a separate service for mental health that is way more than your provider list that came in the mail or is on-line.
What I did to get started was to pick out a therapist I looked into on-line and changed my insurance to the insurance she carried. It was that important to me. And I'm so glad to have someone trained to listen to just me, encourage me, and steer me through my problems and questions about my life.
I hope you can work things out, and coming here for help is good, too.